TY - GEN
T1 - Time-varying formation feasibility analysis for linear multi-agent systems with time delays and switching graphs
AU - Dong, Xiwang
AU - Hua, Yongzhao
AU - Hu, Guoqiang
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2019 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2019/7
Y1 - 2019/7
N2 - Time-varying formation control, formation tracking control, and formation-containment control for multi-agent systems have attracted significant attention recently, where the formation feasibility is a crucial common problem. For a given linear multi-agent system, not all the time-varying formations can be realized due to the dynamic restriction of each agent. The formation feasibility constraint reveals the requirement on the desired time-varying formation to be compatible with the agent dynamics. Formation reference is a representation for the macroscopic movement of the whole multi-agent system. Novel features of the formation feasibility constraint and the formation reference are the main focus of the current paper. Firstly, a timedelayed formation control protocol with switching directed topologies is constructed using local neighboring information. Then time-varying formation feasibility constraint is derived based on nonsingular transformations. It is proven that the time-varying formation feasibility constraint is independent of the time-varying delays and the switching directed topologies. Moreover, an explicit expression of the formation reference function is proposed. It is shown that neither the time-varying delays nor the switching directed topologies have influence on the obtained formation reference function.
AB - Time-varying formation control, formation tracking control, and formation-containment control for multi-agent systems have attracted significant attention recently, where the formation feasibility is a crucial common problem. For a given linear multi-agent system, not all the time-varying formations can be realized due to the dynamic restriction of each agent. The formation feasibility constraint reveals the requirement on the desired time-varying formation to be compatible with the agent dynamics. Formation reference is a representation for the macroscopic movement of the whole multi-agent system. Novel features of the formation feasibility constraint and the formation reference are the main focus of the current paper. Firstly, a timedelayed formation control protocol with switching directed topologies is constructed using local neighboring information. Then time-varying formation feasibility constraint is derived based on nonsingular transformations. It is proven that the time-varying formation feasibility constraint is independent of the time-varying delays and the switching directed topologies. Moreover, an explicit expression of the formation reference function is proposed. It is shown that neither the time-varying delays nor the switching directed topologies have influence on the obtained formation reference function.
KW - Formation feasibility
KW - Linear multi-agent system
KW - Switching directed topology
KW - Time-varying delay
KW - Time-varying formation control
UR - https://www.scopus.com/pages/publications/85074400894
U2 - 10.23919/ChiCC.2019.8866063
DO - 10.23919/ChiCC.2019.8866063
M3 - 会议稿件
AN - SCOPUS:85074400894
T3 - Chinese Control Conference, CCC
SP - 6263
EP - 6268
BT - Proceedings of the 38th Chinese Control Conference, CCC 2019
A2 - Fu, Minyue
A2 - Sun, Jian
PB - IEEE Computer Society
T2 - 38th Chinese Control Conference, CCC 2019
Y2 - 27 July 2019 through 30 July 2019
ER -