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Multi-formation control of nonlinear leader-following multi-agent systems
Tao Han1, Zhi-Hong Guan2, Ming Chi2
1College of Automation, Huazhong University of Science and Technology, Wuhan 430074, PR China; College of Mechatronics and Control Engineering, Hubei Normal University, Huangshi 435002, PR China.
ISA Transactions
|May 20, 2017
Summary
This study addresses multi-formation control for nonlinear multi-agent systems, developing protocols for fixed and switching topologies. The research ensures systems achieve desired formations using stability and graph theories.
Area of Science:
- Control Systems Engineering
- Robotics
- Networked Systems
Background:
- Multi-agent systems (MAS) are crucial for coordinated tasks.
- Controlling formations in nonlinear MAS presents significant challenges.
- Leader-following architectures are common in MAS applications.
Purpose of the Study:
- To develop multi-formation control protocols for nonlinear leader-following multi-agent systems.
- To address both fixed and switching network topologies.
- To ensure stable achievement and maintenance of desired formations.
Main Methods:
- Neighbor-based control protocols were designed.
- Lyapunov stability theory was applied.
- Algebraic graph theory was utilized.
Main Results:
- Sufficient conditions for achieving multi-formation control were established.
- The protocols proved effective for nonlinear dynamics.
- Simulations validated the theoretical findings.
Conclusions:
- The proposed protocols enable effective multi-formation control in nonlinear leader-following MAS.
- The methods are robust to both fixed and switching network topologies.
- The research contributes to the advancement of coordinated control in multi-agent systems.
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