Finite-time Circle Formation Control of Multi-agent Systems

被引：0
|
作者：
Shen, Tao [1 ]
Song, Cheng [1 ]
Fan, Yuan [2 ]
机构：
[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Peoples R China
[2] Anhui Univ, Sch Elect Engn & Automat, Hefei 230601, Peoples R China
来源：
2019 9TH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND TECHNOLOGY (ICIST2019) | 2019年
基金：
中国国家自然科学基金;
关键词：
circle formation; finite-time convergence; multi-agent system; distributed control; ANONYMOUS MOBILE AGENTS; CONSENSUS PROBLEMS; COVERAGE CONTROL; NETWORKS; ROBOTS;
D O I：
10.1109/icist.2019.8836812
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper investigates the finite-time circle formation control problem for a network of mobile agents with continuous-time dynamics. Distributed control protocols for each single-integrator agent dynamics are constructed to form desired configuration on a given circle in finite time. To prove our approaches, finite-time stability theory and Lyapunov methods are considered. And the expressions for the bounded finite settling time is given. Finally, numerical simulations are presented to illustrate the effectiveness and performance of our protocols.
引用
收藏
页码：102 / 107
页数：6
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