Formation control for discrete-time heterogeneous multi-agent systems

被引：14
|
作者：
Liang, Shuang [1 ,2 ]
Wang, Fuyong [3 ,4 ]
Chen, Zengqiang [3 ,4 ]
Liu, Zhongxin [3 ,4 ]
机构：
[1] North China Inst Aerosp Engn, Sch Elect & Control Engn, Langfang, Peoples R China
[2] North China Inst Aerosp Engn, Hebei Engn Res Ctr Assembly & Inspect Robot, Langfang, Peoples R China
[3] Nankai Univ, Coll Artificial Intelligence, Tianjin 300350, Peoples R China
[4] Nankai Univ, Tianjin Key Lab Intelligent Robot, Tianjin, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2022年 / 32卷 / 10期
基金：
中国国家自然科学基金;
关键词：
discrete-time systems; formation control; heterogeneous agents; multi-agent systems; LEADER-FOLLOWING FORMATION; CONTAINMENT CONTROL; OUTPUT CONSENSUS; OPTIMIZATION; ALGORITHM; FLOCKING; VEHICLES; DESIGN; ROBOTS;
D O I：
10.1002/rnc.6116
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, the formation control problem is investigated for a class of general first/second-order discrete-time heterogeneous multi-agent systems. Under directed connected topology, a novel formation control protocol is designed by using the relative local information among heterogeneous agents and the formation information in the desired formation. For the discrete-time heterogeneous multi-agent systems, some sufficient conditions are derived for reaching the desired formation. If the considered system has the same number of first-order and second-order agents, some necessary and sufficient conditions are also obtained by utilizing the bilinear transformation method. Finally, two numerical examples are proposed to demonstrate the feasibility of the obtained results.
引用
收藏
页码：5848 / 5865
页数：18
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