Affine formation control for heterogeneous multi-agent systems with directed interaction networks

被引：26
|
作者：
Xu, Yang [1 ,4 ]
Luo, Delin [1 ]
Li, Dongyu [2 ]
You, Yancheng [1 ]
Duan, Haibin [3 ]
机构：
[1] Xiamen Univ, Sch Aerosp Engn, Xiamen 361005, Peoples R China
[2] Harbin Inst Technol, Dept Control Sci & Engn, Harbin 150001, Heilongjiang, Peoples R China
[3] Beihang Univ, Sch Automat Sci & Elect Engn, State Key Lab Virtual Real Technol & Syst, Beijing 100191, Peoples R China
[4] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117583, Singapore
来源：
NEUROCOMPUTING | 2019年 / 330卷
基金：
中国国家自然科学基金;
关键词：
Affine formation control; Heterogeneous multi-agent systems; Directed graph; Robustness verification; DISTRIBUTED CONTAINMENT CONTROL; VARYING FORMATION CONTROL; UNMANNED AERIAL VEHICLES; CONSENSUS; STATIONARY; DYNAMICS;
D O I：
10.1016/j.neucom.2018.11.023
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, affine formation control problems of heterogeneous multi-agent systems with linear dynamics are studied. As a novel method, the affine formation control has the ability to handle various movement constraints based on the affine transformation. A proportional-integral (PI)-type control scheme is proposed to ensure the effective affine formation control of the leader-following group with directed interaction graphs and successfully eliminate the steady-state errors. Sufficient conditions for the selection of control parameters are given and proved. Considering that the followers are subjected to the external bounded time-varying disturbances, the designed protocol shows good robustness and can guarantee uniformly ultimate boundedness of affine formation errors. Numerical simulations are carried out to verify the theoretical results. (C) 2018 Elsevier B.V. All rights reserved.
引用
收藏
页码：104 / 115
页数：12
相关论文
共 50 条
  • [1] Affine Formation Maneuver Control of Multi-Agent Systems with Directed Interaction Graphs
    Xu, Yang
    Zhao, Shiyu
    Luo, Delin
    You, Yancheng
    [J]. 2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 4563 - 4568
  • [2] Affine formation maneuver control of high-order multi-agent systems over directed networks
    Xu, Yang
    Zhao, Shiyu
    Luo, Delin
    You, Yancheng
    [J]. AUTOMATICA, 2020, 118
  • [3] Affine Formation of Multi-Agent Systems over Directed Graphs
    Wang, Lili
    Lin, Zhiyun
    Fu, Minyue
    [J]. 2014 IEEE 53RD ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2014, : 3017 - 3022
  • [4] Affine Formation Maneuver Control of Linear Multi-Agent Systems with Undirected Interaction Graphs
    Xu, Yang
    Zhao, Shiyu
    Luo, Delin
    You, Yancheng
    [J]. 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2018, : 502 - 507
  • [5] Time-Varying Formation Tracking Control of Heterogeneous Multi-Agent Systems With Intermittent Communications and Directed Switching Networks
    Yuhan Wang
    Zhuping Wang
    Hao Zhang
    Huaicheng Yan
    [J]. IEEE/CAA Journal of Automatica Sinica, 2025, 12 (01) - 296
  • [6] Distributed H∞ control of multi-agent systems with directed networks
    Liu Wei
    Liu Ai-Li
    Zhou Shao-Lei
    [J]. CHINESE PHYSICS B, 2015, 24 (09)
  • [7] Distributed robust adaptive formation control of multi-agent systems with heterogeneous uncertainties and directed graphs
    Yang, Wenlong
    Shi, Zongying
    Zhong, Yisheng
    [J]. AUTOMATICA, 2023, 157
  • [8] Distributed H∞ control of multi-agent systems with directed networks
    刘伟
    柳爱利
    周绍磊
    [J]. Chinese Physics B, 2015, (09) : 77 - 83
  • [9] Formation Tracking Control for Multi-agent Systems on Directed Graphs
    Xu, Yifeng
    Wang, Zhenmin
    Chen, Juan
    [J]. PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 47 - 52
  • [10] Affine formation control for multi-agent systems with prescribed convergence time
    Wang, Jianan
    Ding, Xiangjun
    Wang, Chunyan
    Liang, Li
    Hu, Han
    [J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2021, 358 (14): : 7055 - 7072
12345