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Data-sampled time-varying formation for singular multi-agent systems with multiple leaders.

Fenglan Sun1, Xuemei Yu2, Wei Zhu2

  • 1Key Lab of Intelligent Analysis and Decision on Complex Systems, School of Science, Chongqing University of Posts and Telecommunications, Chongqing, 400065, PR China; Key Lab of Intelligent Air-Ground Cooperative Control for Universities in Chongqing, College of Automation, Chongqing University of Posts and Telecommunications, Chongqing, 400065, PR China; Department of Complexity Science, Potsdam Institute for Climate Impact Research, Potsdam, 14473, Germany.

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|November 7, 2024
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Summary
This summary is machine-generated.

This study addresses the time-varying formation problem for singular multi-agent systems using sampled data. A novel control protocol significantly saves communication energy by only transmitting data at sampling instants.

Keywords:
Multiple leadersSampled dataSingular systemsTime-varying formation

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Area of Science:

  • Control Theory
  • Robotics
  • Multi-Agent Systems

Background:

  • Investigates the complex time-varying formation problem in singular multi-agent systems.
  • Addresses challenges associated with using sampled data for control in distributed systems.

Purpose of the Study:

  • To develop a data-sampled time-varying formation control protocol for multi-agent systems with multiple leaders.
  • To establish necessary and sufficient conditions for the feasibility of formation functions.
  • To present a design approach for formation tracking control under sampled data conditions.

Main Methods:

  • Proposes a novel data-sampled control protocol where communication occurs only at sampling instants.
  • Derives necessary and sufficient conditions for formation function feasibility.
  • Develops a specific approach for designing formation tracking control.

Main Results:

  • The proposed protocol significantly conserves controller communication energy.
  • Provides rigorous conditions for successful formation control.
  • Numerical simulations confirm the effectiveness of the developed control strategy.

Conclusions:

  • The study successfully presents an efficient and effective method for time-varying formation control in singular multi-agent systems using sampled data.
  • The findings contribute to energy-saving control strategies in distributed multi-agent applications.