Finite-time formation control of multiagent systems via dynamic output feedback

被引：85

作者：

Du, Haibo ^{[1
,2
]}

Li, Shihua ^{[1
]}

Lin, Xiangze ^{[3
]}

机构：

[1] Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China

[2] Hefei Univ Technol, Sch Elect Engn & Automat, Hefei 230009, Anhui, Peoples R China

[3] Nanjing Agr Univ, Coll Engn, Nanjing 210031, Jiangsu, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2013年 / 23卷 / 14期

基金：

高等学校博士学科点专项科研基金;

关键词：

finite-time formation; second-order multiagent system; output feedback; stationary formation; moving formation; DOUBLE-INTEGRATOR DYNAMICS; NONLINEAR-SYSTEMS; VEHICLE FORMATIONS; CONSENSUS PROBLEMS; STABILIZATION; NETWORKS; AGENTS; STABILITY; COORDINATION; OBSERVERS;

D O I：

10.1002/rnc.2849

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Finite-time formation control of multiple second-order agents via dynamic output feedback is investigated in this paper. Under the assumption that the velocities of all agents cannot be measured, a continuous consensus algorithm is first proposed such that the states of all agents will reach an agreement in finite time. Then, the consensus algorithm is applied to the finite-time formation control, including stationary formation and moving formation, respectively. Rigorous proof shows that all agents will converge to the desired formation pattern in finite time. Finally, an example is given to verify the efficiency of the proposed method. Copyright (c) 2012 John Wiley & Sons, Ltd.

引用

页码：1609 / 1628

页数：20

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