Formation Control for Nonlinear Multi-agent Systems with Diverse Time-Varying Delays and Uncertain Topologies

被引：0

作者：

Luo, Hefu ^{[1
]}

Peng, Shiguo ^{[1
]}

机构：

[1] Guangdong Univ Technol, Sch Automat, Guangzhou 510006, Guangdong, Peoples R China

来源：

2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2017年

关键词：

nonlinear dynamics; uncertain topologies; jointly-reachable; consensus; diverse time-varying delays; multi-agent systems; formation control; LEADER-FOLLOWING CONSENSUS; AVERAGE CONSENSUS; DYNAMIC AGENTS; NETWORKS; PROTOCOLS;

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：

A leader-following distributed formation control problem for a class of second order nonlinear multi-agent systems (MAS) with diverse time-varying delays and uncertain topologies is discussed in this paper. By proposing a distributed protocol, employing Lyapunov-Krasovskii theory and introducing free-weighted matrix, several feasible linear matrix inequalities (LMIs) are presented to determine maximal allowable time-varying communication delays. We prove that all agents with a globally jointly-reachable leader can achieve expected formation. Finally, numerical examples are provided to illustrate the obtained results.

引用

页码：1730 / 1736

页数：7

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