Time-varying Formation Tracking Control for Multi-agent Systems with Input Saturation

被引：0
|
作者：
Li, Xiaoduo [1 ]
Dong, Xiwang [1 ]
Li, Qingdong [1 ]
Ren, Zhang [1 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China
来源：
PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年
基金：
中国国家自然科学基金;
关键词：
Time-varying formation; multi-agent system; input saturation; general linear dynamics; UNMANNED AERIAL VEHICLES; CONSENSUS; ALGORITHMS; NETWORKS;
D O I：
暂无
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 paper investigates the problem of formation control for multi-agent systems with general linear dynamics and input saturation. The time-varying formation tracking this paper deal with is required to be piecewise differentiable. Firstly, a time-varying formation control protocol is presented. Then an algorithm consisting of 3 steps to design the formation control protocol is proposed. As follows, it is proven that under the designed formation control protocol, the multi-agent systems with input saturation can achieve the desired time-varying formation tracking which belongs to the feasible formation set. Finally, numerical simulations are presented to verify the effectiveness of the proposed algorithms.
引用
收藏
页码：8737 / 8742
页数：6
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