Multi-formation control of nonlinear leader-following multi-agent systems

被引：108
作者：
Han, Tao [1 ,2 ]
Guan, Zhi-Hong [1 ]
Chi, Ming [1 ]
Hu, Bin [1 ]
Li, Tao [3 ]
Zhang, Xian-He [2 ]
机构：
[1] Huazhong Univ Sci & Technol, Coll Automat, Wuhan 430074, Peoples R China
[2] Hubei Normal Univ, Coll Mechatron & Control Engn, Huangshi 435002, Peoples R China
[3] Yangtze Univ, Sch Elect & Informat, Jingzhou 434023, Peoples R China
来源：
ISA TRANSACTIONS | 2017年 / 69卷
基金：
中国国家自然科学基金;
关键词：
Multi-formation control; Nonlinear dynamics; Leader-following multi-agent systems; Switching topology; CLUSTER CONSENSUS; DIRECTED TOPOLOGIES; IMPULSIVE CONTROL; MOBILE ROBOTS; NETWORKS; AGENTS; PERFORMANCE; FEEDBACK;
D O I：
10.1016/j.isatra.2017.05.003
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 deals with the multi-formation control problem for nonlinear leader-following multi-agent systems. Both the fixed topology case and the switching topology case are considered. The neighbor based multi-formation control protocols are proposed under the assumption that for one subgroup, the total information received from other subgroups is zero. Then, based on the Lyapunov stability theory combined with the algebraic graph theory, sufficient conditions are established to ensure that the leader following multi-agent systems with nonlinear dynamics can reach and maintain the desired multi-formation control. Finally, simulation examples are provided to illustrate the effectiveness of the theoretical results. (C) 2017 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：140 / 147
页数：8
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