Time-varying group formation control for second-order multi-agent systems with switching directed topologies

被引：0
|
作者：
Li, Yangfan [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; group formation; second-order dynamics; multi-agent system; switching directed topology; UNMANNED AERIAL VEHICLES; MOBILE ROBOTS;
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：
Time-varying group formation control problems for second-order multi-agent systems with switching directed topologies are studied in this paper. All agents in the multi-agent system are divided into subgroups to form pre-defined time-varying sub-formations and the directed topology can be switching which means that group formation and switching topologies are considered together. Firstly, a time-varying group formation protocol with switching directed topologies is proposed using local relative state information of each agent and its neighbors. Then an algorithm to design the protocol is presented. Based on the piecewise Lyapunov function theory, sufficient conditions for second-order multi-agent systems to achieve time-varying group formation with switching directed topologies are derived together with the time-varying group formation feasibility constraints and the threshold for the dwell time. Finally, a numerical simulation with two subgroups is provided to demonstrate the effectiveness of the obtained theoretical results.
引用
收藏
页码：8530 / 8535
页数：6
相关论文
共 50 条
  • [1] Time-varying group formation tracking for second-order multi-agent systems with switching directed topologies
    Li, Yangfan
    Dong, Xiwang
    Li, Qingdong
    Ren, Zhang
    [J]. 2018 IEEE CSAA GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2018,
  • [2] Time-Varying Group Formation Control for Multi-Agent Systems with Second-Order Dynamics and Directed Topologies
    Dong, Xiwang
    Li, Qingdong
    Zhao, Qilun
    Ken, Zhang
    [J]. PROCEEDINGS OF THE 2016 12TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2016, : 350 - 355
  • [3] Time-varying formation tracking for second-order multi-agent systems with switching directed topologies
    Xiang, Jie
    Li, Yangfan
    Dong, Xiwang
    Li, Qingdong
    Ren, Zhang
    [J]. 2017 32ND YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC), 2017, : 252 - 257
  • [4] Time-varying group formation analysis and design for second-order multi-agent systems with directed topologies
    Dong, Xiwang
    Li, Qingdong
    Zhao, Qilun
    Ren, Zhang
    [J]. NEUROCOMPUTING, 2016, 205 : 367 - 374
  • [5] Fault-tolerant time-varying formation control for second-order multi-agent systems with directed topologies
    Hua, Yongzhao
    Dong, Xiwang
    Li, Qingdong
    Xie, Lin
    Ren, Zhang
    [J]. 2017 13TH IEEE INTERNATIONAL CONFERENCE ON CONTROL & AUTOMATION (ICCA), 2017, : 467 - 472
  • [6] Time-varying formation control for second-order swarm systems with switching directed topologies
    Dong, Xiwang
    Li, Qingdong
    Wang, Rui
    Ren, Zhang
    [J]. INFORMATION SCIENCES, 2016, 369 : 1 - 13
  • [7] Time-Varying Group Formation With Adaptive Control for Second-Order Multi-Agent Systems
    Du, Xiangyang
    Li, Weixun
    Xiao, Jingyu
    Chen, Zengqiang
    [J]. IEEE ACCESS, 2022, 10 : 45337 - 45346
  • [8] Time-varying Formation Control for Swarm Systems with Second-order Dynamics and Switching Directed Topologies
    Dong, Xiwang
    Li, Qingdong
    Wang, Rui
    Ren, Zhang
    [J]. PROCEEDINGS 2016 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT), 2016, : 2143 - 2148
  • [9] Time-varying formation control for general linear multi-agent systems with switching directed topologies
    Dong, Xiwang
    Hu, Guoqiang
    [J]. AUTOMATICA, 2016, 73 : 47 - 55
  • [10] Time-Varying Formation Control For Second-Order Discrete-Time Multi-Agent Systems With Switching Topologies and Nonuniform Communication Delays
    He, Lyulong
    Zhang, Jiaqiang
    Hou, Yueqi
    Liang, Xiaolong
    Bai, Peng
    [J]. IEEE ACCESS, 2019, 7 : 65379 - 65389
12345