Xu, Y., Zhao, S. orcid.org/0000-0003-3098-8059, Luo, D. et al. (1 more author) (2018) Affine formation maneuver control of multi-agent systems with directed interaction graphs. In: Proceedings of 2018 37th Chinese Control Conference (CCC). 2018 37th Chinese Control Conference (CCC), 25-27 Jul 2018, Wuhan, China. IEEE , pp. 4563-4568. ISBN 9789881563941
Abstract
The affine formation maneuver control problem of a leader-follower type multi-agent systems with the directed interaction graphs is studied in this paper. This paper firstly gives and proves a sufficient and necessary condition of achieving the affine localizability. Then, under the (d+1) -reachable condition of the given d-dimensional nominal formation with d+1 leaders, a formation of agents can be reshaped in arbitrary dimension by only controlling these leaders. In the sequel, a novel distributed control method for the followers with single-integrator dynamics is proposed to achieve the desired time-varying maneuvers, and the global stability is also proved. Corresponding simulations are carried out to verify the theoretical results, which show that these followers are tracking the time-varying references accurately and continuously.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Affine formation control; Multi-agent systems; Directed graph; Signed Laplacian |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 06 Dec 2018 11:26 |
Last Modified: | 06 Dec 2018 11:27 |
Published Version: | https://doi.org/10.23919/ChiCC.2018.8482601 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.23919/ChiCC.2018.8482601 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:139578 |