Distributed rotating formation control of multi-agent systems

被引：139

作者：

Lin, Peng ^{[1
]}

Jia, Yingmin ^{[2
]}

机构：

[1] Univ Elect Sci & Technol China, Inst Aeronaut & Astronaut, Chengdu 610054, Peoples R China

[2] Beihang Univ BUAA, Res Div 7, Beijing 100191, Peoples R China

来源：

SYSTEMS & CONTROL LETTERS | 2010年 / 59卷 / 10期

关键词：

Formation control; Consensus; Second-order dynamics; Complex systems; SWITCHING TOPOLOGY; CONSENSUS CONTROL; AGENTS; NETWORKS; STABILITY;

D O I：

10.1016/j.sysconle.2010.06.015

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates collective rotating motions of second-order multi-agent systems. We first consider rotating consensus problems. Using local relative information, we propose a protocol and give a necessary and sufficient condition for rotating consensus of the system. Then, we consider rotating formation control problems. With the help of Lyapunov theory for complex systems, we propose rotating formation protocols and give sufficient conditions to make all agents move with a specific structure in a circular channel. Finally, simulation results are provided to demonstrate the effectiveness of our theoretical results. (C) 2010 Published by Elsevier B.V.

引用

页码：587 / 595

页数：9

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