Affine Formation Control of General Linear Multi-Agent Systems with Delays-Reference-Cited by-同舟云学术

Affine Formation Control of General Linear Multi-Agent Systems with Delays

Published:2022-06-02 Issue:02 Volume:11 Page:123-132
ISSN:2301-3850
Container-title:Unmanned Systems
language:en
Short-container-title:Un. Sys.

Author:

Wang Jianan¹,Ding Xiangjun¹,Wang Chunyan¹^ORCID,Zuo Zongyu²,Ding Zhengtao³

Affiliation:

1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, P. R. China

2. The Seventh Research Division, Beihang University, Beijing 100191, P. R. China

3. Department of Electronic and Electrical Engineering, University of Manchester, Manchester M13 9PL, UK

Abstract

This paper studies affine formation control problem of general linear multi-agent systems (MASs) over undirected graph in the presence of time delays. Different delay conditions are considered and predictive observers are designed for the followers to predict the states in the future. Then, affine formation control laws are designed based on the predicted states, and sufficient conditions are derived to ensure the convergence of the formation errors. With an adaptive mechanism, the proposed control laws can be implemented without the usage of global information. Under the proposed protocols, the MASs can form a target formation shape and realize time-varying geometric transformations continuously. Finally, simulations are conducted to verify the effectiveness of the theoretical results.

Publisher

World Scientific Pub Co Pte Ltd

Subject

Control and Optimization,Aerospace Engineering,Automotive Engineering,Control and Systems Engineering

Link

https://www.worldscientific.com/doi/pdf/10.1142/S2301385023410017

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