Affine formation control for heterogeneous multi-agent systems with directed interaction networks

被引：33
作者：
Xu, Yang [1 ,4 ]
Luo, Delin [1 ]
Li, Dongyu [2 ]
You, Yancheng [1 ]
Duan, Haibin [3 ]
机构：
[1] Xiamen Univ, Sch Aerosp Engn, Xiamen 361005, Peoples R China
[2] Harbin Inst Technol, Dept Control Sci & Engn, Harbin 150001, Heilongjiang, Peoples R China
[3] Beihang Univ, Sch Automat Sci & Elect Engn, State Key Lab Virtual Real Technol & Syst, Beijing 100191, Peoples R China
[4] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117583, Singapore
来源：
NEUROCOMPUTING | 2019年 / 330卷
基金：
中国国家自然科学基金;
关键词：
Affine formation control; Heterogeneous multi-agent systems; Directed graph; Robustness verification; DISTRIBUTED CONTAINMENT CONTROL; VARYING FORMATION CONTROL; UNMANNED AERIAL VEHICLES; CONSENSUS; STATIONARY; DYNAMICS;
D O I：
10.1016/j.neucom.2018.11.023
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, affine formation control problems of heterogeneous multi-agent systems with linear dynamics are studied. As a novel method, the affine formation control has the ability to handle various movement constraints based on the affine transformation. A proportional-integral (PI)-type control scheme is proposed to ensure the effective affine formation control of the leader-following group with directed interaction graphs and successfully eliminate the steady-state errors. Sufficient conditions for the selection of control parameters are given and proved. Considering that the followers are subjected to the external bounded time-varying disturbances, the designed protocol shows good robustness and can guarantee uniformly ultimate boundedness of affine formation errors. Numerical simulations are carried out to verify the theoretical results. (C) 2018 Elsevier B.V. All rights reserved.
引用
收藏
页码：104 / 115
页数：12
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