Formation control of singular multiagent systems with switching topologies

被引：24

作者：

Liu, Xiaofan ^{[1
]}

Xie, Yongfang ^{[1
]}

Li, Fanbiao ^{[1
]}

Shi, Peng ^{[2
]}

Gui, Weihua ^{[1
]}

Li, Wenbo ^{[3
]}

机构：

[1] Cent South Univ, Sch Automat, Changsha 410083, Peoples R China

[2] Univ Adelaide, Sch Elect & Elect Engn, Adelaide, SA, Australia

[3] China Acad Space Technol, Beijing Inst Control Engn, Beijing, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2020年 / 30卷 / 02期

基金：

中国国家自然科学基金; 澳大利亚研究理事会;

关键词：

distributed formation controller; singular multiagent systems; switching topologies; time-varying formation; CONSENSUS; TRACKING;

D O I：

10.1002/rnc.4789

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 is concerned with the time-varying formation control problem for singular multiagent systems with switching topologies. First, in order to eliminate the pulse solution of singular systems and extend the formation function set, the distributed formation controller has been formulated based on the output information of the agents. Then, the explicit expression of formation position function is presented based on the impulse free and the equivalent transformation of singular multiagent systems. Next, the sufficient and necessary conditions of the feasibility of the formation function are provided. Moreover, the sufficient conditions of formation control of singular multiagent systems with switching topologies are presented and the algorithm is designed to solve the distributed controller. Finally, the validity of the proposed approaches is verified by numerical simulation in this paper.

引用

页码：652 / 664

页数：13

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