中国物理B ›› 2010, Vol. 19 ›› Issue (10): 100202-100202.doi: 10.1088/1674-1056/19/10/100202

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Leader-following formation control of multi-agent networks based on distributed observers

罗小元, 韩娜妮, 关新平   

  1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China
  • 收稿日期:2010-01-08 修回日期:2010-04-09 出版日期:2010-10-15 发布日期:2010-10-15
  • 基金资助:
    Project supported by the National Natural Science Foundation for Distinguished Young Scholars of China (Grant No. 60525303), the National Natural Science Foundation of China (Grant No. 60704009), the Key Project for Natural Science Research of the Hebei Educational Department (Grant No. ZD200908) and the Doctorial Fund of Yanshan University (Grant No. B203).

Leader-following formation control of multi-agent networks based on distributed observers

Luo Xiao-Yuan(罗小元)†,Han Na-Ni(韩娜妮), and Guan Xin-Ping(关新平)   

  1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China
  • Received:2010-01-08 Revised:2010-04-09 Online:2010-10-15 Published:2010-10-15
  • Supported by:
    Project supported by the National Natural Science Foundation for Distinguished Young Scholars of China (Grant No. 60525303), the National Natural Science Foundation of China (Grant No. 60704009), the Key Project for Natural Science Research of the Hebei Educational Department (Grant No. ZD200908) and the Doctorial Fund of Yanshan University (Grant No. B203).

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摘要： To investigate the leader-following formation control, in this paper we present the design problem of control protocols and distributed observers under which the agents can achieve and maintain the desired formation from any initial states, while the velocity converges to that of the virtual leader whose velocity cannot be measured by agents in real time. The two cases of switching topologies without communication delay and fixed topology with time-varying communication delay are both considered for multi-agent networks. By using the Lyapunov stability theory, the issue of stability is analysed for multi-agent systems with switching topologies. Then, by considering the time-varying communication delay, the sufficient condition is proposed for the multi-agent systems with fixed topology. Finally, two numerical examples are given to illustrate the effectiveness of the proposed leader-following formation control protocols.

Abstract: To investigate the leader-following formation control, in this paper we present the design problem of control protocols and distributed observers under which the agents can achieve and maintain the desired formation from any initial states, while the velocity converges to that of the virtual leader whose velocity cannot be measured by agents in real time. The two cases of switching topologies without communication delay and fixed topology with time-varying communication delay are both considered for multi-agent networks. By using the Lyapunov stability theory, the issue of stability is analysed for multi-agent systems with switching topologies. Then, by considering the time-varying communication delay, the sufficient condition is proposed for the multi-agent systems with fixed topology. Finally, two numerical examples are given to illustrate the effectiveness of the proposed leader-following formation control protocols.

Key words: formation control, distributed observer, multi-agent system, graph theory

中图分类号:  (Combinatorics; graph theory)

  • 02.10.Ox
02.30.Yy (Control theory) 07.05.Dz (Control systems)