Abstract
This paper studies the dynamic formation control of second-order multi-agent systems (MASs) in three-dimensional space based on the distance control approach. A rigid graph represents the communication topology between agents to improve the system’s robustness and stability and avoid collisions and deformations during formation operation. A distributed control strategy based on the relative states among neighbors is designed for each agent to achieve formation and formation maintenance under arbitrary initial conditions. The Lyapunov function, an error function of potential and kinetic energy, is constructed by rigid graph theory and a second-order integrator model. The decreasing of the Lyapunov function is proven by Barbalat’s theory, further indicating that the system is asymptotically stable. A second-order MAS composed of nine agents is constructed, and the dynamic scaling of rigid formations in 3D space is achieved through simulation to verify the effectiveness of the controller and the correctness of the theory.
Funder
National Natural Science Foundation of China
Key R&D Program of Shanxi Province
Subject
Process Chemistry and Technology,Chemical Engineering (miscellaneous),Bioengineering
Reference28 articles.
1. Conceptual and Empirical Reviews I;Animasaun,2022
2. On Constructing Multiple Lyapunov Functions for Tracking Control of Multiple Agents With Switching Topologies
3. Distributed Fault-Tolerant Time-Varying Formation Control for Second-Order Multi-Agent Systems with Actuator Failures and Directed Topologies;Yongzhao;IEEE Trans. Circuits Syst. II Express Briefs,2017
4. Formation control with mismatched compasses
5. Attitude synchronization and rigid formation of multiple rigid bodies over proximity networks;Deng;Automatica,2018
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献