TY - GEN
T1 - Formation-containment tracking for high-order linear multi-agent systems on directed graphs
AU - Hua, Yongzhao
AU - Dong, Xiwang
AU - Li, Qingdong
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/15
Y1 - 2017/12/15
N2 - Formation-containment tracking problems for high-order linear multi-agent system on directed graphs are studied, where the multi-agent system is composed of a virtual leader, several real leaders and followers. The real leaders need to not only accomplish a predefined time-varying formation but also track the expected trajectory generated by the virtual leader, while the followers are required to converge to the convex hull formed by the real leaders. Firstly, a formation-containment tracking protocol is presented by using the neighboring relative information. Then an algorithm to design the control parameters is given, where the formation-containment tracking feasible constraint is proposed. Furthermore, based on the Lyapunov theory, it is proved that the multi-agent system can achieve the given formation-containment tracking under the designed protocol. Finally, the effectiveness of the theoretical results is verified by a simulation example.
AB - Formation-containment tracking problems for high-order linear multi-agent system on directed graphs are studied, where the multi-agent system is composed of a virtual leader, several real leaders and followers. The real leaders need to not only accomplish a predefined time-varying formation but also track the expected trajectory generated by the virtual leader, while the followers are required to converge to the convex hull formed by the real leaders. Firstly, a formation-containment tracking protocol is presented by using the neighboring relative information. Then an algorithm to design the control parameters is given, where the formation-containment tracking feasible constraint is proposed. Furthermore, based on the Lyapunov theory, it is proved that the multi-agent system can achieve the given formation-containment tracking under the designed protocol. Finally, the effectiveness of the theoretical results is verified by a simulation example.
KW - Multi-agent systems
KW - containment control
KW - formation control
UR - https://www.scopus.com/pages/publications/85046634263
U2 - 10.1109/IECON.2017.8217007
DO - 10.1109/IECON.2017.8217007
M3 - 会议稿件
AN - SCOPUS:85046634263
T3 - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
SP - 5809
EP - 5814
BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
Y2 - 29 October 2017 through 1 November 2017
ER -