Leader-following formation control of multi-agent systems under fixed and switching topologies

被引:125
作者
Wang, Jin-Liang [1 ]
Wu, Huai-Ning [1 ]
机构
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China
基金
中国国家自然科学基金;
关键词
multi-agent systems; nonlinear dynamics; formation control; switching topology; pinning control; TIME-VARYING DELAYS; COOPERATIVE CONTROL; 2ND-ORDER CONSENSUS; VEHICLE FORMATIONS; MOBILE ROBOTS;
D O I
10.1080/00207179.2012.662720
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this article, two kinds of leader-following formation control problems for second-order nonlinear multi-agent systems are investigated, that is, the cases with fixed topology and with switching topology. For the former, by constructing an appropriate Lyapunov functional and utilising linear matrix inequality (LMI) method, we propose a formation control algorithm which makes the nonlinear multi-agent systems converge to a desired formation. In addition, a formation control algorithm is also developed for coupled double-integrators with a constant reference velocity. Then we extend these results to the case when the interaction topology is switching. Numerical simulations are presented finally to demonstrate the effectiveness of the proposed results.
引用
收藏
页码:695 / 705
页数:11
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