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
  • [31] Optimal Affine Formation Control of Linear Multi-agent System
    Onuoha, Okechi
    Tnunay, Hilton
    Li, Zhenhong
    Ding, Zhengtao
    [J]. 2019 IEEE 15TH INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA), 2019, : 851 - 856
  • [32] Affine Formation Maneuver Control of Multi-Agent Systems with Triple-Integrator Dynamics
    Onuoha, Okechi
    Tnunay, Hilton
    Ding, Zhengtao
    [J]. 2019 AMERICAN CONTROL CONFERENCE (ACC), 2019, : 5334 - 5339
  • [33] Optimal leader-follower affine formation control of linear multi-agent systems
    Zhi, Hui
    Chen, Liangming
    Li, Chuanjiang
    Lv, Yueyong
    [J]. OPTIMAL CONTROL APPLICATIONS & METHODS, 2022, 43 (01): : 304 - 320
  • [34] Formation Control for Heterogeneous Multi-agent Systems with Communication Delays Based on Impulsive Control
    Jia X.
    Xi J.-X.
    Liu G.-B.
    Du B.-Y.
    [J]. 2018, Chinese Institute of Electronics (46): : 2957 - 2963
  • [35] Necessary Condition Of Consensus For Affine Multi-Agent Systems Under Time-Varying Directed Networks
    Zheng, Yufan
    Jin, Jidong
    [J]. 2013 25TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2013, : 702 - 706
  • [36] Formation Control of Heterogeneous Multi-Agent Systems Under Fixed and Switching Hierarchies
    Aslam, Muhammad Shamrooz
    Bilal, Hazrat
    Chang, Wen-Jer
    Yahya, Abid
    Badruddin, Irfan Anjum
    Kamangar, Sarfaraz
    Hussien, Mohamed
    [J]. IEEE ACCESS, 2024, 12 : 97868 - 97882
  • [37] Quantized Formation Control of Heterogeneous Nonlinear Multi-Agent Systems with Switching Topology
    Ying Liu
    Jun Hu
    Yongming Li
    [J]. Journal of Systems Science and Complexity, 2023, 36 : 2382 - 2397
  • [38] Quantized Formation Control of Heterogeneous Nonlinear Multi-Agent Systems with Switching Topology
    LIU Ying
    HU Jun
    LI Yongming
    [J]. Journal of Systems Science & Complexity, 2023, 36 (06) : 2382 - 2397
  • [39] An Adaptive Output Regulation Approach for Formation Control of Heterogeneous Multi-Agent Systems
    Li, Shaohao
    Er, Meng Joo
    Wang, Ning
    Chien, Chiang-Ju
    [J]. 2016 IEEE CONGRESS ON EVOLUTIONARY COMPUTATION (CEC), 2016, : 1410 - 1415
  • [40] Quantized Formation Control of Heterogeneous Nonlinear Multi-Agent Systems with Switching Topology
    Liu Ying
    Hu Jun
    Li Yongming
    [J]. JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY, 2023, 36 (06) : 2382 - 2397
12345