Distance-based formation tracking control of multi-agent systems with double-integrator dynamics

doi:10.1088/1674-1056/27/6/060202

中国物理B ›› 2018, Vol. 27 ›› Issue (6): 60202-060202.doi: 10.1088/1674-1056/27/6/060202

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

收稿日期:2017-12-26 修回日期:2018-03-25 出版日期:2018-06-05 发布日期:2018-06-05
通讯作者: Jinsheng Sun E-mail:jssun67@163.com
基金资助:
Project supported by the National Natural Science Foundation of China (Grant No.61603188).

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

Received:2017-12-26 Revised:2018-03-25 Online:2018-06-05 Published:2018-06-05
Contact: Jinsheng Sun E-mail:jssun67@163.com
Supported by:
Project supported by the National Natural Science Foundation of China (Grant No.61603188).

摘要/Abstract

摘要： 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.

关键词: multi-agent system, formation control, distributed control

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.

Key words: multi-agent system, formation control, distributed control

中图分类号: (Control theory)

02.30.Yy

02.30.Em (Potential theory) 05.65.+b (Self-organized systems) 02.10.Ox (Combinatorics; graph theory)

吴梓杏, 孙金生, 王希铭. Distance-based formation tracking control of multi-agent systems with double-integrator dynamics[J]. 中国物理B, 2018, 27(6): 60202-060202.

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[J]. Chin. Phys. B, 2018, 27(6): 60202-060202.

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Distance-based formation tracking control of multi-agent systems with double-integrator dynamics

Distance-based formation tracking control of multi-agent systems with double-integrator dynamics

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