Coordinate-free formation control of multi-agent systems using rooted graphs
文献类型：期刊论文
| 作者 | Liu, Hui1,2; Lin, Zhiyun3; Cao, Ming4; Wang, Xiaoping1,2; Lu, Jinhu5,6
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| 刊名 | SYSTEMS & CONTROL LETTERS
 |
| 出版日期 | 2018-09-01 |
| 卷号 | 119页码:8-15 |
| 关键词 | Multi-agent system Formation control Graph theory Stabilization |
| ISSN号 | 0167-6911 |
| DOI | 10.1016/j.sysconle.2018.06.006 |
| 英文摘要 | This paper studies how to control large formations of autonomous agents in the plane, assuming that each agent is able to sense relative positions of its neighboring agents with respect to its own local coordinate system. We tackle the problem by adopting two types of controllers. First, we use the classical gradient-based controllers on three leader agents to meet their distance constraints. Second, we develop other type of controllers for follower agents: utilizing the properties of rooted graphs, one is able to design linear controllers incorporating relative positions between the follower agents and their neighbors, to stabilize the overall large formations. The advantages of the proposed method are fourfold: (i) fewer constraints on neighboring relationship graphs: (ii) simplicity of linear controllers for follower agents; (iii) global convergence of the overall formations; (iv) implementation in local coordinate systems, in no need of a global coordinate system. Numerical simulations show the effectiveness of the proposed method. (C) 2018 Elsevier B.V. All rights reserved. |
| 资助项目 | National Natural Science Foundation of China[61773175] ; National Natural Science Foundation of China[61673344] ; National Natural Science Foundation of China[61403154] ; National Natural Science Foundation of China[61621003] ; National Natural Science Foundation of China[61532020] ; National Key Research and Development Program of China[2016YFB0800401] ; National Key Research and Development Program of China[2017YFC1501301] ; Netherlands Organization for Scientific Research[NWO-vidi-14134] |
| WOS研究方向 | Automation & Control Systems ; Operations Research & Management Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000442978800002 |
| 出版者 | ELSEVIER SCIENCE BV |
| 源URL | [http://ir.amss.ac.cn/handle/2S8OKBNM/31122]  |
| 专题 | 系统科学研究所 |
| 通讯作者 | Liu, Hui |
| 作者单位 | 1.Huazhong Univ Sci & Technol, Sch Automat, Educ Minist China, Wuhan 430074, Hubei, Peoples R China 2.Huazhong Univ Sci & Technol, Key Lab Image Proc & Intelligent Control, Educ Minist China, Wuhan 430074, Hubei, Peoples R China 3.Hangzhou Dianzi Univ, Sch Automat, Hangzhou 310018, Zhejiang, Peoples R China 4.Univ Groningen, Engn & Technol Inst, NL-9747 AG Groningen, Netherlands 5.Chinese Acad Sci, Acad Math & Syst Sci, Beijing 100190, Peoples R China 6.Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100083, Peoples R China |
| 推荐引用方式 GB/T 7714 | Liu, Hui,Lin, Zhiyun,Cao, Ming,et al. Coordinate-free formation control of multi-agent systems using rooted graphs[J]. SYSTEMS & CONTROL LETTERS,2018,119:8-15. |
| APA | Liu, Hui,Lin, Zhiyun,Cao, Ming,Wang, Xiaoping,&Lu, Jinhu.(2018).Coordinate-free formation control of multi-agent systems using rooted graphs.SYSTEMS & CONTROL LETTERS,119,8-15. |
| MLA | Liu, Hui,et al."Coordinate-free formation control of multi-agent systems using rooted graphs".SYSTEMS & CONTROL LETTERS 119(2018):8-15. |
入库方式： OAI收割
来源：数学与系统科学研究院
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