Formation control of networked multi-agent systems
Formation control of networked multi-agent systems
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DOI：
10.1049/iet-cta.2009.0574
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发表时间：
2010-10
影响因子：
2.6
通讯作者：
Dong Xue;Jing Yao;Guanrong Chen;Yuan Yu
中科院分区：
文献类型：
--
作者：
Dong Xue;Jing Yao;Guanrong Chen;Yuan Yu
在这项研究中，一个系统的框架开发的共识控制问题，特别是形成控制的网络动态代理。针对具有开关耦合拓扑结构和非线性的多机器人编队结构的复杂性，提出了一种基于人工势函数（APF）的分散编队策略。针对有源滤波器存在局部极小值的问题，设计了编队控制器，引入了一些特殊的函数来解决这一问题。定义了基于相对位置的编队稳定性概念，并利用李雅普诺夫方法和扩展线性矩阵不等式（LMI）算法对编队稳定性条件进行了沿着分析。最后，通过仿真实例验证了所设计的编队控制器的有效性。
In this study, a systematic framework is developed for the consensus control problem, particularly for formation control of networked dynamic agents. In view of the complexity of the framework with switching coupling topology and non-linearity, a new decentralised formation strategy based on artificial potential functions (APF) is proposed. Owing to the existence of local minima in the APF, the formation controller is designed to introduce some special functions to settle that limitation. A new concept of relative-position-based formation stability is defined, and a Lyapunov approach is used along with an extended linear matrix inequalities (LMI) algorithm to analyse the condition for formation stability. Finally, an example with simulations is provided to demonstrate the effectiveness of the designed formation controller.