Formation Control for Heterogeneous Multi-agent Systems with Communication Delays Based on Impulsive Control

被引：0
|
作者：
Jia X. [1 ]
Xi J.-X. [1 ]
Liu G.-B. [1 ]
Du B.-Y. [1 ]
机构：
[1] Teaching and Research Section 205, Rocket Force University of Engineering, Xi'an, 710025, Shaanxi
来源：
| 2018年 / Chinese Institute of Electronics卷 / 46期
关键词：
Average communication cost index; Consensus; Heterogeneous multi-agent systems; Impulsive control; Time-varying delays;
D O I：
10.3969/j.issn.0372-2112.2018.12.019
中图分类号：
学科分类号：
摘要：
In order to improve the robustness of the formation system and reduce the system demands for communication conditions, concerning the formation control problem of multi-agent systems, a control approach is proposed based on impulsive control for the formation control problem of heterogeneous multi-agent systems.Considering problems in multi-agent systems with switching topology and time-varying delays, an impulsive control algorithm is proposed based upon leader-following models by using the consensus theory.In formation control of heterogeneous multi-agent systems, the time-varying delays problem is transformed into the upper bound of time-delays problem by the matrix theory.A Lyapunov function is constructed.By the Lyapunov theory, a sufficient condition for solving the formation control problem of heterogeneous multi-agent systems is obtained.Aiming to compare the control protocol with others, the average communication cost index of multi-agent systems with switching topology is proposed.The simulation results illustrate the validity and the superiority of the proposed impulsive control approach. © 2018, Chinese Institute of Electronics. All right reserved.
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页码：2957 / 2963
页数：6
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