Formation control of multi-agent with diverse delays

被引：1
|
作者：
Yang H.-Y. [1 ]
Li X. [1 ]
机构：
[1] School of Information Science and Engineering, Ludong University
来源：
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2010年 / 44卷 / 07期
关键词：
Diverse delays; Formation control; Multi-agent; Second-order system;
D O I：
10.3785/j.issn.1008-973X.2010.07.022
中图分类号：
学科分类号：
摘要：
The formation control problem of second-order delayed multi-agent system was analyzed in order to reveal the swarming behavior of mobile agent system. The dynamic team of mobile multiple agents was researched with the hypothesis of the directed interconnected graph with a globally reachable node, and the diverse communication delays during the information transmission and the diverse input delays during the information processing. A control protocol with the diverse communication delays and the diverse input delays was presented by analyzing the movement characteristic of multi-agent system. The frequency feature of the delayed system was analyzed by applying the Laplace's transform of frequency domain. The characteristic equation of closed-loop control system was studied by utilizing the Greshgorin's disc theorem. The convergence condition to ensure the formation control of the delayed system was obtained based on the generalized Nyquist criterion. The condition was a decentralized condition that only applied the local information of every agent irrespective of the others. The computer simulations showed the validity of the results.
引用
收藏
页码：1355 / 1360
页数：5
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