Formation Control of Second-Order Multi-Agent with Diverse Delays
In this paper, a consensus algorithm of multi-agent second-order dynamics system is proposed. The formation control of mobile multi-agent system is studied by introducing the communication delays and input delays. A consensus result is obtained by the hypothesis of directed network topology with globally reachable node, and a sufficient condition to ensure the formation control of the delayed system is presented by applying generalized Nyquist criterion. Finally, the validity of the results is shown by computer simulation.
Multi-agent Second-order system Diverse delays Formation control
Yang Hong-yong Liu Qi-ming
School of Computer Science and Technology, Ludong University, Yantai 264025, China
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
1342-1346
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）