@inproceedings{b6e46f466d0e430091488e0e1d7a7d0b,
title = "A consensus based algorithm for formation control under directed and switching graphs",
abstract = "Formation control problems for linear multi-agent systems with switching and directed topologies are investigated. A consensus based protocol is constructed using local neighboring information. An algorithm consisting of three steps is presented to design the formation control protocol. The stability of the proposed algorithm is proven using the piecewise Lyapunov function theory. It is obtained that the predefined time-varying formation can be achieved by the linear multi-agent systems with switching directed topologies if the given time-varying formation belongs to the feasible formation set and the dwell time is larger than a positive threshold. A numerical simulation is provided to demonstrate the effectiveness of the theoretical results.",
keywords = "Formation control, linear dynamics, multi-agent system, switching directed topology",
author = "Xiwang Dong and Jie Xiang and Qingdong Li and Zhang Ren",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016 ; Conference date: 13-11-2016 Through 15-11-2016",
year = "2016",
doi = "10.1109/ICARCV.2016.7838736",
language = "英语",
series = "2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2016 14th International Conference on Control, Automation, Robotics and Vision, ICARCV 2016",
address = "美国",
}