Output Feedback Based Formation Control of Multi-Agent Systems

被引：3

作者：

Zhou, Shaolei ^{[1
]}

Qi, Yahui ^{[1
]}

Kang, Yuhang ^{[1
]}

Yan, Shi ^{[1
]}

机构：

[1] Naval Aeronaut & Astronaut Univ, Dept Control Engn, Yantai, Peoples R China

来源：

2016 8TH INTERNATIONAL CONFERENCE ON INTELLIGENT HUMAN-MACHINE SYSTEMS AND CYBERNETICS (IHMSC), VOL. 1 | 2016年

关键词：

formation control; multi-agent systems; consensus; directed topology; linear matrix equality; SWITCHING TOPOLOGIES; MOBILE ROBOTS; CONSENSUS;

D O I：

10.1109/IHMSC.2016.244

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Time-varying formation control problems for high-order multi-agent systems with directed communication topology are investigated. A general protocol based on output feedback is proposed. By means of variable transformation, the time-varying formation control problems can be transferred into consensus problems and then stabilization problems. Sufficient conditions are obtained based on Lyapunov stability analyses. An algorithm is presented for multi-agent systems with directed topology to achieve time-varying formation. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results.

引用

页码：89 / 93

页数：5

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