Rigidity based formation tracking for multi-agent networks

doi:10.1088/1674-1056/24/9/090206

中国物理B ›› 2015, Vol. 24 ›› Issue (9): 90206-090206.doi: 10.1088/1674-1056/24/9/090206

Rigidity based formation tracking for multi-agent networks

白璐, 陈飞, 兰维瑶

Department of Automation, Xiamen University, Xiamen 361005, China

收稿日期:2015-01-25 修回日期:2015-03-12 出版日期:2015-09-05 发布日期:2015-09-05
基金资助:
Project supported by the National Natural Science Foundation of China (Grant No. 61473240).

Rigidity based formation tracking for multi-agent networks

Bai Lu (白璐), Chen Fei (陈飞), Lan Wei-Yao (兰维瑶)

Department of Automation, Xiamen University, Xiamen 361005, China

Received:2015-01-25 Revised:2015-03-12 Online:2015-09-05 Published:2015-09-05
Contact: Chen Fei E-mail:feichen@xmu.edu.cn
Supported by:
Project supported by the National Natural Science Foundation of China (Grant No. 61473240).

摘要/Abstract

摘要：

This paper considers the formation tracking problem under a rigidity framework, where the target formation is specified as a minimally and infinitesimally rigid formation and the desired velocity of the group is available to only a subset of the agents. The following two cases are considered: the desired velocity is constant, and the desired velocity is time-varying. In the first case, a distributed linear estimator is constructed for each agent to estimate the desired velocity. The velocity estimation and a formation acquisition term are employed to design the control inputs for the agents, where the rigidity matrix plays a central role. In the second case, a distributed non-smooth estimator is constructed to estimate the time-varying velocity, which is shown to converge in a finite time. Theoretical analysis shows that the formation tracking problem can be solved under the proposed control algorithms and estimators. Simulation results are also provided to show the validity of the derived results.

关键词: multi-agent system, formation control, graph rigidity, distributed estimator

Abstract:

Key words: multi-agent system, formation control, graph rigidity, distributed estimator

中图分类号: (Control theory)

02.30.Yy

07.05.Dz (Control systems) 02.10.Ox (Combinatorics; graph theory)

白璐, 陈飞, 兰维瑶. Rigidity based formation tracking for multi-agent networks[J]. 中国物理B, 2015, 24(9): 90206-090206.

Bai Lu (白璐), Chen Fei (陈飞), Lan Wei-Yao (兰维瑶). Rigidity based formation tracking for multi-agent networks[J]. Chin. Phys. B, 2015, 24(9): 90206-090206.

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Rigidity based formation tracking for multi-agent networks

Rigidity based formation tracking for multi-agent networks

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