Circular Formation Tracking Control for Time-delayed Second-order Multi-agent Systems with Multiple Leaders

被引：0
|
作者：
Han, Liang [1 ]
Dong, Xiwang [1 ]
Yi, Ke [1 ]
Tan, Qingke [1 ]
Li, Qingdong [1 ]
Ren, Zhang [1 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
来源：
2016 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC) | 2016年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, circular formation tracking control problems for time-delayed second-order multi-agent systems (MASs) with multiple leaders are studied, where the state of followers are designed to form a circular formation while tracking the average state of the multiple leaders. A circular formation tracking control protocol with time-varying delays is proposed. Sufficient conditions for time-delayed second-order MASs with multiple leaders to realize circular formation tracking are given. The presented results can be applied to target enclosing problem for multiple unmanned aerial vehicles (UAVs) with a group of targets and time-varying delays. Numerical examples on target enclosing are provided to demonstrate the feasibility of the theoretical results.
引用
收藏
页码：1648 / 1653
页数：6
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