Forced Multi-Agent Bipartite Consensus Control: Application to Quadrotor Formation Flying

被引:2
|
作者
Guerrero, Jose A. [1 ]
Romero, Gerardo [2 ]
Olivares, Daniel [3 ]
Romero-Cruz, Lucero M. [2 ]
机构
[1] Univ Clermont Auvergne, Ecole Univ Phys & Ingn, F-63178 Aubiere, France
[2] Univ Autonoma Tamaulipas, Elect Dept UAM Reynosa Rodhe, Reynosa 88779, Tamaulipas, Mexico
[3] Tecnol Nacl Mexico, Inst Tecnol Nuevo Laredo, Dept Elect & Elect Engn, Nuevo Laredo 88275, Tamaulipas, Mexico
来源
IEEE ACCESS | 2024年 / 12卷
关键词
Multi-agent systems; Switches; Consensus control; Synchronization; Robots; Quadrotors; Mathematical models; Consensus algorithm; Topology; State feedback; Bipartite consensus; switching antagonistic interactions; multi-agent consensus system; quadrotor formation control; TRACKING CONSENSUS; SYSTEMS; NETWORKS; AGENTS;
D O I
10.1109/ACCESS.2024.3489422
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This work investigates the multi-agent bipartite consensus problem in the presence of switching antagonistic interactions. For leaderless multi-agent systems communicating over a structurally balanced sign graph with switching antagonistic interactions, we show that, whenever the sum of the agents' initial conditions on both subsets of a bipartite graph are identical, the agents converge to the origin. For multi-agent systems communicating over balanced bipartite graphs, that have achieved or are initially in consensus, we show that bipartite consensus is not admissible. We demonstrate that switching antagonistic interactions in the multi-agent bipartite consensus problem results in a multi-agent consensus to the origin. For leader-based multi-agent systems with antagonistic interactions, the bipartite consensus problem becomes a forced bipartite consensus problem with applications in robotics, for example, Unmanned Aerial Vehicle (UAV) flight formation. An application of forced bipartite consensus with switching antagonistic interactions to a quadrotor formation is presented. The results are validated using simulations.
引用
收藏
页码:163654 / 163670
页数:17
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