Leader-following consensus protocols for formation control of multi-agent network
Leader-following consensus protocols for formation control of multi-agent network
复制标题
DOI：
10.3969/j.issn.1004-4132.2011.06.016
复制
发表时间：
2011-12
影响因子：
2.1
通讯作者：
Xiaoyuan Luo;Na-ni Han;X. Guan
中科院分区：
文献类型：
--
作者：
Xiaoyuan Luo;Na-ni Han;X. Guan
针对多Agent网络，提出了两种协议，使Agent在有和无通信时延的情况下，在固定拓扑结构下达成一致，同时达到和保持期望的信息。首先，给出了不考虑通信时延的多智能体协议，并利用李雅普诺夫稳定性理论，给出了该多智能体系统稳定的充分条件。在考虑通信时延的情况下，证明了基于Lyapunov-Krasovskii函数的协议的有效性。所提出的协议的主要贡献是，以及考虑速度一致性，编队控制关注的多智能体系统描述为二阶方程。最后，数值例子来说明所提出的协议的有效性。
Two protocols are presented, which can make agents reach consensus while achieving and preserving the desired for- mation in fixed topology with and without communication time- delay for multi-agent network. First, the protocol without consid- ering the communication time-delay is presented, and by using Lyapunov stability theory, the sufficient condition of stability for this multi-agent system is presented. Further, considering the com- munication time-delay, the effectiveness of the protocol based on Lyapunov-Krasovskii function is demonstrated. The main contri- bution of the proposed protocols is that, as well as the velocity consensus is considered, the formation control is concerned for multi-agent systems described as the second-order equations. Finally, numerical examples are presented to illustrate the effec- tiveness of the proposed protocols.