Bipartite Antagonistic Time-Varying Formation Tracking for Multi-agent System

被引：0

作者：

Wang, Jianhua ^{[1
]}

Han, Liang ^{[1
]}

Dong, Xiwang ^{[2
]}

Li, Qingdong ^{[2
]}

Ren, Zhang ^{[2
]}

机构：

[1] Beihang Univ, Sch Sino French Engineer, Beijing 100191, Peoples R China

[2] Beihang Univ, Sch Automat Sci & Elect Engn, Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China

来源：

PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年

基金：

北京市自然科学基金; 中国国家自然科学基金;

关键词：

Bipartite graph; Antagonistic network; Time-varying formation tracking; Multi-agent system; UNMANNED AERIAL VEHICLES; CONSENSUS;

D O I：

10.23919/chicc.2019.8866328

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Bipartite antagonistic time-varying formation tracking problems for multi-agent systems with one dynamic leader is investigated in this paper, where the followers track the leader while achieving a predifined time-varying formation, and one group of followers tracks the leader while another group of followers tracks the leader at the opposite position to the origin. The competitive interactions among the followers and the external input of the leader are both taken into consideration. A distributed bipartite antagonistic time-varying formation tracking protocol is constructed by using the neighboring state information. Sufficient conditions for multi-agent system to achieve the bipartite formation tracking are given. An approach to extend the feasible set of formation is proposed and an algorithm to design the protocol is introduced. A numerical simulation is provided to demonstrate the effectiveness of the protocol.

引用

页码：6118 / 6123

页数：6

共 16 条

[1] Consensus Problems on Networks With Antagonistic Interactions [J].

Altafini, Claudio .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2013, 58 (04) :935-946

[2] Distributed Time-Varying Formation Tracking Analysis and Design for Second-Order Multi-Agent Systems [J].

Dong, Xiwang ;

Xiang, Jie ;

Han, Liang ;

Li, Qingdong ;

Ren, Zhang .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2017, 86 (02) :277-289

[3] Time-varying formation control for unmanned aerial vehicles with switching interaction topologies [J].

Dong, Xiwang ;

Zhou, Yan ;

Ren, Zhang ;

Zhong, Yisheng .

CONTROL ENGINEERING PRACTICE, 2016, 46 :26-36

[4] Time-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications [J].

Dong, Xiwang ;

Yu, Bocheng ;

Shi, Zongying ;

Zhong, Yisheng .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2015, 23 (01) :340-348

[5] Bipartite flocking for multi-agent systems [J].

Fan, Ming-Can ;

Zhang, Hai-Tao ;

Wang, Miaomiao .

COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION, 2014, 19 (09) :3313-3322

[6]

Hu JP, 2014, I C CONT AUTOMAT ROB, P199, DOI 10.1109/ICARCV.2014.7064304

[7] Tracking control of spacecraft formation flying with collision avoidance [J].

Hu, Qinglei ;

Dong, Hongyang ;

Zhang, Youmin ;

Ma, Guangfu .

AEROSPACE SCIENCE AND TECHNOLOGY, 2015, 42 :353-364

[8] Cooperative Target-capturing with Incomplete Target Information [J].

Kothari, Mangal ;

Sharma, Rajnikant ;

Postlethwaite, Ian ;

Beard, Randal W. ;

Pack, Daniel .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2013, 72 (3-4) :373-384

[9] Formation control for second-order multi-agent systems with time-varying delays under directed topology [J].

Lu, Xiaoqing ;

Austin, Francis ;

Chen, Shihua .

COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION, 2012, 17 (03) :1382-1391

[10] Bipartite containment tracking of signed networks [J].

Meng, Deyuan .

AUTOMATICA, 2017, 79 :282-289

← 1 2 →