TY - GEN
T1 - Distributed time-varying formation control for second-order nonlinear multi-agent systems based on observers
AU - Yu, Jianglong
AU - Dong, Xiwang
AU - Li, Qingdong
AU - Yu, Yingrong
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/12
Y1 - 2017/7/12
N2 - In this paper, time-varying formation analysis and design problems for second-order nonlinear multi-agent systems are studied using a distributed observer-based method. The formation in this paper can be specified by time-varying continuously differentiable vectors and the dynamics of each agent has nonlinearity. Firstly, a nonlinear time-varying formation control protocol is proposed based on the distributed observer. Then a nonsingular transformation matrix is constructed using the property of the Laplacian matrix. Sufficient conditions for the second-order nonlinear multi-agent systems to achieve time-varying formations are presented using only position feedback, where a description of the feasible time-varying formation set is given. Thirdly, an algorithm with three steps is proposed to design the distributed observer-based formation control protocol. By using the Lyapunov theory, the stability of the proposed algorithm is proven. Finally, a numerical example with five nonlinear agents is provided to demonstrate the effectiveness of the obtained results.
AB - In this paper, time-varying formation analysis and design problems for second-order nonlinear multi-agent systems are studied using a distributed observer-based method. The formation in this paper can be specified by time-varying continuously differentiable vectors and the dynamics of each agent has nonlinearity. Firstly, a nonlinear time-varying formation control protocol is proposed based on the distributed observer. Then a nonsingular transformation matrix is constructed using the property of the Laplacian matrix. Sufficient conditions for the second-order nonlinear multi-agent systems to achieve time-varying formations are presented using only position feedback, where a description of the feasible time-varying formation set is given. Thirdly, an algorithm with three steps is proposed to design the distributed observer-based formation control protocol. By using the Lyapunov theory, the stability of the proposed algorithm is proven. Finally, a numerical example with five nonlinear agents is provided to demonstrate the effectiveness of the obtained results.
KW - Distributed observer
KW - Multi-agent systems
KW - Second-order nonlinear dynamics
KW - Time-varying formation
UR - https://www.scopus.com/pages/publications/85028065340
U2 - 10.1109/CCDC.2017.7978307
DO - 10.1109/CCDC.2017.7978307
M3 - 会议稿件
AN - SCOPUS:85028065340
T3 - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
SP - 6313
EP - 6318
BT - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 29th Chinese Control and Decision Conference, CCDC 2017
Y2 - 28 May 2017 through 30 May 2017
ER -