Formation Control for High-Order Linear Time-Invariant Multiagent Systems With Time Delays

被引：170
作者：
Dong, Xiwang [1 ]
Xi, Jianxiang [1 ,2 ]
Lu, Geng [1 ]
Zhong, Yisheng [1 ]
机构：
[1] Tsinghua Univ, TNlist, Dept Automat, Beijing 100084, Peoples R China
[2] High Tech Inst Xian, Xian 710025, Peoples R China
来源：
IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS | 2014年 / 1卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Formation control; high order; multiagent systems; time delay; time-varying formation;
D O I：
10.1109/TCNS.2014.2337972
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Formation control problems for high-order linear time-invariant multiagent systems with time delays are investigated. First, a general time-varying formation control protocol is proposed. Then, based on consensus approaches, necessary and sufficient conditions for multiagent systems to achieve a given time-varying formation are presented. An explicit expression of the time-varying formation reference function is also given. It is shown that the motion modes of the formation reference can be specified. Furthermore, necessary and sufficient conditions for formation feasibility are proposed. An approach to expand the feasible formation set and an algorithm to design the protocol for multiagent systems to achieve time-varying formations are provided, respectively. Finally, numerical simulations are presented to demonstrate theoretical results.
引用
收藏
页码：232 / 240
页数：9
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