Distributed Formation Control for Time-delayed Multi-agent Systems with Double-integrator Dynamics

被引：0
|
作者：
Han, Liang [1 ]
Dong, Xiwang [2 ]
Li, Qingdong [2 ]
Ma, Ming [3 ,4 ]
Ren, Zhang [2 ]
机构：
[1] Beihang Univ, Sch Sino French Engineer, Beijing 100191, Peoples R China
[2] Beihang Univ, Sch Automat Sci & Elect Engn, Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China
[3] Shaanxi Key Lab Integrated & Intelligent Nav, Xian 710068, Peoples R China
[4] Xian Res Inst Nav Technol, Xian 710068, Peoples R China
来源：
PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年
基金：
北京市自然科学基金;
关键词：
Multi-agent system; Time-varying formation; Double-integrator dynamic; Transmission delays; SPACECRAFT FORMATION; TRACKING CONTROL; CONTROL DESIGN; MOBILE ROBOTS; CONSENSUS;
D O I：
10.23919/chicc.2019.8865718
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Distributed time-varying formation control problems for multi-agent system with transmission delays and double-integrator dynamics on directed graphs are addressed in this paper. First, a distributed formation protocol, which considers time-varying transmission delays, is developed. Then using graph theory and linear algebra, time-varying formation control problem is processed into a stability problem. Based on Lyapunov functional approach, Some sufficient criteria for time-delayed multi-agent systems with double-integrator dynamics are further given. Finally, the feasibility of research results is verified by numerical simulations.
引用
收藏
页码：6172 / 6177
页数：6
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