Formation analysis and feasibility for high-order linear time-invariant swarm systems with time delays

被引：0
|
作者：
Dong, Xiwang [1 ]
Xi, Lianxiang [1 ,2 ]
Lu, Geng [1 ]
Zhong, Yisheng [1 ]
机构：
[1] Tsinghua Univ, Dept Automat, TNList, Beijing 100084, Peoples R China
[2] High Tech Inst Xian, Xian 710025, Peoples R China
来源：
2013 32ND CHINESE CONTROL CONFERENCE (CCC) | 2013年
基金：
中国国家自然科学基金;
关键词：
Formation control; Time delay; High-order; Swarm system; MULTIAGENT SYSTEMS; VEHICLE FORMATIONS; CONSENSUS PROBLEMS; MOBILE ROBOTS; COOPERATIVE CONTROL; AUTONOMOUS AGENTS; COORDINATION; NETWORKS; FEEDBACK; BEHAVIOR;
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：
Formation analysis and feasibility problems for high-order linear time-invariant swarm systems with time-delayed protocols are dealt with. Firstly, formation problems are transformed into consensus problems. Then necessary and sufficient conditions for swarm systems to achieve a given time-varying formation are presented. An explicit expression of the time-varying formation center function is given. It is shown that the moving mode of the formation center can be specified. Furthermore, necessary and sufficient conditions for formation feasibility are proposed. The approach to expand the feasible formation set and an algorithm to design the protocol for swarm systems to achieve formation are provided respectively. Finally, numerical simulations are presented to demonstrate theoretical results.
引用
收藏
页码：7023 / 7029
页数：7
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