Distance-Based Multiagent Formation Control With Energy Constraints Using SDRE

被引:34
作者
Babazadeh, Reza [1 ]
Selmic, Rastko [1 ]
机构
[1] Concordia Univ, Dept Elect & Comp Engn, Montreal, PQ H4B 1R6, Canada
基金
加拿大自然科学与工程研究理事会;
关键词
Collision avoidance; formation control; multiagent systems; optimal control; rigidity matrix; RIGIDITY; SYSTEMS; STRATEGIES;
D O I
10.1109/TAES.2019.2910361
中图分类号
V [航空、航天];
学科分类号
08 ; 0825 ;
摘要
We present an optimal control method for distance-based formation control of multiagent systems with energy constraints. We combine the rigid graph theory and state-dependent Riccati equation method to develop a multiagent formation control scheme. We defined a normalized rigidity matrix and use it for the rigorous stability analysis. The proposed method asymptotically minimizes weighted cost functional that includes formation and energy consumption costs. Furthermore, we propose a solution for the global asymptotic stability and collision avoidance. Simulation results illustrate the effectiveness of the proposed method in two- and three-dimensional spaces.
引用
收藏
页码:41 / 56
页数:16
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