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Chin. Phys. B, 2018, Vol. 27(6): 060202    DOI: 10.1088/1674-1056/27/6/060202
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Distance-based formation tracking control of multi-agent systems with double-integrator dynamics

Zixing Wu(吴梓杏), Jinsheng Sun(孙金生), Ximing Wang(王希铭)
School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China
Abstract  This paper addresses the distance-based formation tracking problem for a double-integrator modeled multi-agent system (MAS) in the presence of a moving leader in d-dimensional space. Under the assumption that the state of leader can be obtained over fixed graphs, a distributed distance-based control protocol is designed for each double-integrator follower agent. The protocol consists of three terms:a gradient function term, a velocity consensus term, and a leader tracking term. Different shape stabilizing functions proposed in the literature can be applied to the gradient function term. The proposed controller allows all agents to both achieve the desired shape and reach the same velocity with moving leader by controlling the distances and velocity. Finally, we analyze the local asymptotic stability of the equilibrium set with center manifold theory. We validate the effectiveness of our approach through two examples.
Keywords:  multi-agent system      formation control      distributed control  
Received:  26 December 2017      Revised:  25 March 2018      Published:  05 June 2018
PACS:  02.30.Yy (Control theory)  
  02.30.Em (Potential theory)  
  05.65.+b (Self-organized systems)  
  02.10.Ox (Combinatorics; graph theory)  
Fund: Project supported by the National Natural Science Foundation of China (Grant No.61603188).
Corresponding Authors:  Jinsheng Sun     E-mail:  jssun67@163.com

Cite this article: 

Zixing Wu(吴梓杏), Jinsheng Sun(孙金生), Ximing Wang(王希铭) Distance-based formation tracking control of multi-agent systems with double-integrator dynamics 2018 Chin. Phys. B 27 060202

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