Formation Tracking Control for Multi-agent Systems on Directed Graphs

被引：0
|
作者：
Xu, Yifeng [1 ]
Wang, Zhenmin [2 ]
Chen, Juan [1 ]
机构：
[1] Beijing Univ Chem Technol, Coll Informat Sci & Technol, Beijing 100029, Peoples R China
[2] Beihang Univ, Sch Automat Sci & Elect Engn, Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China
来源：
PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年
关键词：
Multi-agent systems; Formation tracking control; Single-integrator; MOBILE ROBOTS; SPACECRAFT; STRATEGIES;
D O I：
10.23919/chicc.2019.8865518
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 formation tracking problem for single-integrator multi-agent system with one leader and several followers on directed graphs are investigated. The followers need to achieve predefined time-varying formation while tracking the leader with unknown control input. Firstly, a time-varying formation tracking control protocol is designed by using neighbor information. Then based on the Lyapunov theory, a proof that the multi-agent systems can achieve the desired time-varying formation tracking is given. Furthermore, a simulation example of formation tracking motion of multi-agent systems composed of three followers and one leader under designed protocol is given. Finally, the protocol is applied to a unmanned ground vehicle(UGV) systems composed of one leader and three followers to demonstrate the effectiveness of the theoretical results.
引用
收藏
页码：47 / 52
页数：6
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