Formation control of first-order multi-agents with region constraint
| Autor: | Zengqiang Chen, Zhengquan Yang, Xiaofang Pan, Qing Zhang |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Mathematical optimization General Computer Science Computer science Multi-agent system set constraint 020208 electrical & electronic engineering formation lcsh:Automation asymptotic convergence lcsh:Control engineering systems. Automatic machinery (General) 02 engineering and technology First order Constraint (information theory) Computer Science::Multiagent Systems lcsh:TJ212-225 020901 industrial engineering & automation Control and Systems Engineering 0202 electrical engineering electronic engineering information engineering Formation multi-agent systems lcsh:T59.5 Control (linguistics) Set constraint |
| Zdroj: | Automatika, Vol 61, Iss 4, Pp 651-656 (2020) Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije Volume 61 Issue 4 |
| ISSN: | 1848-3380 0005-1144 |
| Popis: | Formation problem of multi-agents systems has been investigated studied by more and more scientists. This paper studies the formation problem of the first-order multi-agent systems with region constraint. Not only formation control but also the constraint area is considered. The state of each agent is constrained by a common convex set. A formation control protocol is proposed based on the local information of neighbourhood and region constraint. If the communication topology is connected, and the target framework is rigid, all agents would enter the target area while reaching the desired formation. The convergence of the formation control to the final formation is guaranteed as proven by Lyapunov framework. Compared with the leader follower controller, the controller does not depend on the leader and has good robustness. In addition, the controller can quickly and accurately control all agents to all agents to enter the constrained area. Finally, the results are illustrated by numerical simulations. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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