Time-varying formation of double integrator discrete-time multi-agent systems with switching topology and time-delay

被引：0
|
作者：
Wang, Jianhua [1 ]
Han, Liang [1 ]
Wen, Yilong [2 ]
Dong, Xiwang [3 ]
Li, Qingdong [3 ]
Ren, Zhang [3 ]
机构：
[1] Beihang Univ, Sch Sino French Engineer, Beijing, Peoples R China
[2] Traff Control Technol Co Ltd, Beijing, Peoples R China
[3] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing, Peoples R China
来源：
2019 CHINESE AUTOMATION CONGRESS (CAC2019) | 2019年
基金：
中国国家自然科学基金; 北京市自然科学基金;
关键词：
discrete-time; multi-agent systems; time-delay; switching topology; COOPERATIVE CONTROL; MOBILE ROBOTS; CONSENSUS; COMMUNICATION;
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：
Time-varying formation problem for discrete-time multi-agent systems with double-integrator dynamics is investigated in this article, where the transmission delays and switching topology are discussed. The transmission time-delay can be nonuniform and the graph of the topology is not required to include a spanning tree all the time. A time-varying formation problem is defined; the corresponding formation vector and formation reference function are given. Based on the neighboring states, a linear formation protocol is presented. Using the state transformation method and properties of the stochastic matrix, sufficient conditions for the discrete-time multi-agent systems to complete the specified time-varying formation are given. A formation problem of four agents in a two-dimensional surface is simulated to illustrate the effectiveness of the protocol considering delays and switching topology.
引用
收藏
页码：3571 / 3576
页数：6
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