Consensus Based Formation Control and Trajectory Tracing of Multi-Agent Robot Systems

被引：0
作者：
Zhengping Wu
Zhihong Guan
Xianyong Wu
Tao Li
机构：
[1] Huazhong University of Science and Technology,Department of Control Science and Engineering
来源：
Journal of Intelligent and Robotic Systems | 2007年 / 48卷
关键词：
consensus; group formation control and trajectory tracing; model; Multi-Agent Robot Systems;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Multi-Agent Robot Systems (MARS) are, nowadays, an important research area within robotics and Artificial Intelligence. A growing number of systems have been presented in the literature recently. This paper develops a general method of controller design for formation keeping and motion trajectory tracing of the MARS. A novel motion model about the motion trajectory tracing and group formation control of MARS for fixed and changing interaction is presented. Based on this model and the consensus theory, two theorems about the condition of mobile stability properties of the system are analyzed and proved. Finally, the validity of this scheme is supported by computer simulation.
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页码：397 / 410
页数：13
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