Finite-time circle formation control for multi-agent systems with unidirectional motion

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：
2020 IEEE 16TH INTERNATIONAL CONFERENCE ON CONTROL & AUTOMATION (ICCA) | 2020年
基金：
中国国家自然科学基金;
关键词：
ANONYMOUS MOBILE AGENTS; COVERAGE CONTROL; ALGORITHMS; TARGET;
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：
This paper investigates the finite-time circle formation control problem for networked mobile agents with continuous-time dynamics. The agents are constrained to move on the circle only in the counterclockwise direction. Distributed control laws are developed to achieve desired circle formation in finite time and the spatial order of the agents is preserved during the formation task. With the help of Lyapunov methods and finite-time stability theory, convergence analysis of the proposed formation control laws is provided. Finally, simulation examples are presented to illustrate the effectiveness and performance of the proposed control laws.
引用
收藏
页码：1091 / 1095
页数：5
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