Distance-based formation control of multi-agent systems moving in 3D space based on an AMSP graph

被引：0
|
作者：
Xu, Wenbiao [1 ,4 ]
Lan, Xuejing [2 ]
Wang, Yongji [3 ]
机构：
[1] Guangdong Inst Metrol, Guangzhou 510405, Guangdong, Peoples R China
[2] Guangzhou Univ, Sch Mech & Elect Engn, Guangzhou 510006, Guangdong, Peoples R China
[3] Huazhong Univ Sci & Technol, Sch Automat, Wuhan 430074, Peoples R China
[4] Guangdong Prov Key Lab Modern Geometr & Mech Metr, Guangzhou, Guangdong, Peoples R China
来源：
2018 37TH CHINESE CONTROL CONFERENCE (CCC) | 2018年
关键词：
distance-based formation; three-dimensional space; adaptive estimator; multi-agent system; LEADER-FOLLOWER FORMATION; FORMATION MERGING CONTROL; AGENTS;
D O I：
暂无
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 paper, we consider the problem of distance-based formation control of multi-agent systems moving in three-dimensional (3D) space. An acyclic minimally structural persistent (AMSP) graph is used to construct the formation for 3D applications. We propose a decentralized dynamic formation control law based on the relative position measurements. An adaptive estimator is applied to estimate the unknown moving velocity. Using graph theory and nonlinear control theory, the convergence of the system is theoretically analyzed. The proposed estimation-based control law could steer the multi-agent system to achieve the desired formation, where the size of the formation can be adjusted during moving for some certain applications. Finally, a simulation is performed to demonstrate the effectiveness of the formation control strategy.
引用
收藏
页码：6676 / 6681
页数：6
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