TY - GEN
T1 - Time-varying group formation tracking for second-order multi-agent systems with switching directed topologies
AU - Li, Yangfan
AU - Dong, Xiwang
AU - Li, Qingdong
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8
Y1 - 2018/8
N2 - Time-varying group formation tracking problems for second-order multi-agent systems with switching directed topologies are studied, where the followers are divided into subgroups to form pre-defined time-varying sub-formations while tracking the leader of the subgroups that they belong to. Firstly, a time-varying group formation tracking protocol is constructed using local relative state information of each agent and its neighbors. Then an algorithm to design the protocol is proposed. Based on the piecewise Lyapunov function theory, the stability of the proposed algorithm is proven and feasibility constraints as well as the threshold for the dwell time are also presented. Finally, a numerical simulation is provided to demonstrate the effectiveness of the theoretical results.
AB - Time-varying group formation tracking problems for second-order multi-agent systems with switching directed topologies are studied, where the followers are divided into subgroups to form pre-defined time-varying sub-formations while tracking the leader of the subgroups that they belong to. Firstly, a time-varying group formation tracking protocol is constructed using local relative state information of each agent and its neighbors. Then an algorithm to design the protocol is proposed. Based on the piecewise Lyapunov function theory, the stability of the proposed algorithm is proven and feasibility constraints as well as the threshold for the dwell time are also presented. Finally, a numerical simulation is provided to demonstrate the effectiveness of the theoretical results.
KW - Group formation control
KW - formation tracking control
KW - group formation tracking
KW - multi-agent system
KW - switching directed topology.
UR - https://www.scopus.com/pages/publications/85082501350
U2 - 10.1109/GNCC42960.2018.9018978
DO - 10.1109/GNCC42960.2018.9018978
M3 - 会议稿件
AN - SCOPUS:85082501350
T3 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
BT - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
Y2 - 10 August 2018 through 12 August 2018
ER -