Formation control of multi-agent systems with heterogeneous communication delays

被引：131

作者：

Liu, Cheng-Lin ^{[1
]}

Tian, Yu-Ping ^{[1
]}

机构：

[1] Southeast Univ, Sch Automat, Nanjing 210096, Peoples R China

来源：

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE | 2009年 / 40卷 / 06期

基金：

中国国家自然科学基金;

关键词：

formation; multi-agent systems; self-delay; communication delay; coordination control; COORDINATION; STABILITY;

D O I：

10.1080/00207720902755762

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, the formation control is investigated for a network of second-order dynamic agents with heterogeneous communication delays. The desired stationary formation is achieved by introducing diverse self-delay for each agent. In addition, a delay-dependent formation control algorithm is proposed to achieve the desired moving formation. Based on the frequency-domain analysis and matrix theory, sufficient conditions are obtained for the multi-agent systems asymptotically converging to desired stationary and moving formations, respectively. Simulation results illustrate the correctness of the results.

引用

页码：627 / 636

页数：10

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