Decentralized formation control of mobile agents: A unified framework
Decentralized formation control of mobile agents: A unified framework
复制标题
DOI：
10.1016/j.physa.2008.04.018
复制
发表时间：
2008-08
影响因子：
3.3
通讯作者：
Fei Chen;Zengqiang Chen;Zhongxin Liu;Linying Xiang;Zhuzhi Yuan
中科院分区：
文献类型：
--
作者：
Fei Chen;Zengqiang Chen;Zhongxin Liu;Linying Xiang;Zhuzhi Yuan
本文研究了由多个移动智能体组成的系统的群体控制问题，这些系统分别用一阶微分方程和二阶微分方程来描述。研究了以下问题：有界输入、干扰和时滞。在主要结果的推导中，使用了图论和系统论工具的混合，其中局部势函数和拉萨尔不变原理发挥了核心作用。最后给出了数值算例，很好地支持了分析结果。
This paper studies the formation control problem for systems consisting of multiple mobile agents that are described by first-order differential equations and second-order differential equations respectively. The following issues are investigated: bounded input, disturbance, and time delay. In derivation of the main results, a blend of graph-theoretic and system-theoretic tools is employed, where local potential functions and LaSalle’s Invariant Principle play central roles. Finally, numerical examples which support the analytical results very well are also included.