TY - GEN
T1 - Time-varying formation tracking for second-order multi-agent systems with switching directed topologies
AU - Xiang, Jie
AU - Li, Yangfan
AU - Dong, Xiwang
AU - Li, Qingdong
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/6/30
Y1 - 2017/6/30
N2 - Time-varying formation tracking problems for second-order multi-agent systems with switching and directed topologies are investigated, where the followers can not only form a predefined time-varying formation but also track the leader. A consensus based protocol is constructed using local neighboring information. An algorithm consisting of three steps is proposed to design the formation tracking control protocol. Then, 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 presented to demonstrate the effectiveness of the theoretical results.
AB - Time-varying formation tracking problems for second-order multi-agent systems with switching and directed topologies are investigated, where the followers can not only form a predefined time-varying formation but also track the leader. A consensus based protocol is constructed using local neighboring information. An algorithm consisting of three steps is proposed to design the formation tracking control protocol. Then, 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 presented to demonstrate the effectiveness of the theoretical results.
KW - Formation tracking control
KW - multi-agent system
KW - switching directed topology
KW - target enclosing
UR - https://www.scopus.com/pages/publications/85026728353
U2 - 10.1109/YAC.2017.7967414
DO - 10.1109/YAC.2017.7967414
M3 - 会议稿件
AN - SCOPUS:85026728353
T3 - Proceedings - 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017
SP - 252
EP - 257
BT - Proceedings - 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017
Y2 - 19 May 2017 through 21 May 2017
ER -