LQR-based affine formation control for multi-agent systems

被引：0
|
作者：
Song, Chen [1 ]
Fang, Hao [1 ]
Yang, Qingkai [1 ]
Wei, Yue [2 ]
机构：
[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
[2] Peng Cheng Lab, Shenzhen 518055, Peoples R China
来源：
2020 IEEE 16TH INTERNATIONAL CONFERENCE ON CONTROL & AUTOMATION (ICCA) | 2020年
基金：
中国博士后科学基金;
关键词：
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：
Affine formation control has been proved to be an effective tool in altering formation shapes for multiple robots to adapt to the change of working space. This paper studies the problem of optimal affine formation control based on LQR performance index. By taking both the internal potential and the control efforts of all agents into consideration, the control gain is uniquely determined under which the cost function is minimized. It is shown that the control gain is dependent on the agents' initial states as well as their connection relationship. Numerical simulations are presented to validate the theoretical results.
引用
收藏
页码：1440 / 1445
页数：6
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