Finite-Time Optimal Formation Control for Second-Order Multiagent Systems

2012 ◽  
Vol 16 (1) ◽  
pp. 138-148 ◽  
Author(s):  
Yongfang Liu ◽  
Zhiyong Geng
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Formation Control ◽  
Second Order ◽  
Time Optimal

scholarly journals Finite-Time Formation Control without Collisions for Multiagent Systems with Communication Graphs Composed of Cyclic Paths

2015 ◽  
Vol 2015 ◽  
pp. 1-17 ◽  
Author(s):  
J. F. Flores-Resendiz ◽  
E. Aranda-Bricaire ◽  
J. González-Sierra ◽  
J. Santiaguillo-Salinas
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Formation Control ◽  
Vector Fields ◽  
Control Law ◽  
Closed Loop System ◽  
Focus Structure ◽  
Communication Graphs ◽  
Cyclic Pursuit ◽  
Unstable Focus

This paper addresses the formation control problem without collisions for multiagent systems. A general solution is proposed for the case of any number of agents moving on a plane subject to communication graph composed of cyclic paths. The control law is designed attending separately the convergence to the desired formation and the noncollision problems. First, a normalized version of the directed cyclic pursuit algorithm is proposed. After this, the algorithm is generalized to a more general class of topologies, including all the balanced formation graphs. Once the finite-time convergence problem is solved we focus on the noncollision complementary requirement adding a repulsive vector field to the previous control law. The repulsive vector fields display an unstable focus structure suitably scaled and centered at the position of the rest of agents in a certain radius. The proposed control law ensures that the agents reach the desired geometric pattern in finite time and that they stay at a distance greater than or equal to some prescribed lower bound for all times. Moreover, the closed-loop system does not exhibit undesired equilibria. Numerical simulations and real-time experiments illustrate the good performance of the proposed solution.

scholarly journals Energy-Limited Time-Varying Formation Control for Second-Order Multiagent Systems

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Wanzhen Quan ◽  
Yulong Zhao ◽  
Le Wang ◽  
Xiaogang Yang
Keyword(s):  
Control Problem ◽  
Total Energy ◽  
Multiagent Systems ◽  
Formation Control ◽  
Orthogonal Transformation ◽  
Second Order ◽  
Time Varying ◽  
Limited Time ◽  
Leader Following ◽  
Energy Limitation

The energy-limited time-varying formation (ETVF) control problem of second-order multiagent systems (MAS) is addressed for both leaderless and leader-following communication topologies in this paper. Different from the previous results, the joint consideration of energy limitation and formation design is more challenging and practical. First, an ETVF control protocol is presented, and the total energy supply is pregiven and limited, which is more common in practical applications. Then, by an orthogonal transformation, the formation control problem is converted into the consensus stabilization problem for second-order leaderless MAS, where sufficient conditions for the ETVF are derived by joint design of control gains and the total energy. At the same time, the explicit formula that forms the formation center function is obtained to depict the macroscopic movement of the multiagent system as a whole. Moreover, the proposed method is also extended to the leader-following communication structure. Finally, two examples are given to verify the effectiveness of our theoretical results.

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