Finite-time formation control for multi-agent systems
Finite-time formation control for multi-agent systems
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DOI：
10.1016/j.automatica.2009.07.012
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
Feng Xiao;Long Wang;Jie Chen;Yanping Gao
中科院分区：
文献类型：
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作者：
Feng Xiao;Long Wang;Jie Chen;Yanping Gao
在本文中，我们为具有大量成员的多智能体系统开发了一种新的有限时间编队控制框架。在这个框架中，我们将编队信息分为两个独立的部分，即全局信息和局部信息。全局编队信息决定了所需编队的几何图案。此外，假设只有少数负责整个团队导航的智能体可以获得全局编队信息，其他智能体通过分布式信息调节自己的位置。这种方式可以大大减少数据交换，并且可以轻松实现各种复杂的编队。作为理论准备，我们首先提出一类非线性共识协议，确保所有智能体的相关状态在合适的条件下在有限时间内达成一致。然后我们将这些共识协议应用到编队控制中，分别包括时不变编队、时变编队和轨迹跟踪。结果表明，所有智能体都会在有限时间内维持预期的队形。最后，进行了几次模拟来说明我们理论结果的有效性。
In this paper, we develop a new finite-time formation control framework for multi-agent systems with a large population of members. In this framework, we divide the formation information into two independent parts, namely, the global information and the local information. The global formation information decides the geometric pattern of the desired formation. Furthermore, it is assumed that only a small number of agents, which are responsible for the navigation of the whole team, can obtain the global formation information, and the other agents regulate their positions by the local information in a distributed manner. This approach can greatly reduce the data exchange and can easily realize various kinds of complex formations. As a theoretical preparation, we first propose a class of nonlinear consensus protocols, which ensures that the related states of all agents will reach an agreement in a finite time under suitable conditions. And then we apply these consensus protocols to the formation control, including time-invariant formation, time-varying formation and trajectory tracking, respectively. It is shown that all agents will maintain the expected formation in a finite time. Finally, several simulations are worked out to illustrate the effectiveness of our theoretical results.