Formation Control for Multiple Autonomous Agents Based on Virtual Leader Structure
This paper considers the formation control problem for multiple autonomous agents system based on virtual leader structure. The reference output vectors are supposed to be generated by an exosystem which is estimated by using the virtual leader structure. By introducing some concatenation vectors, the single autonomous agent system is transformed into a global multi-agent system and the system quadratic performance index is also transformed into a relevant format. According to the maximum principle, the formation control problem is transformed into solve a two-point boundary value problem. The obtained formation control law consists of analytic output feedback terms which are constructed by the solution of a Riccati matrix equation and a Sylvester matrix equation and a compensation term. The effectiveness and feasibility of the formation control law is demonstrated by a numerical example.
Formation control Multiple autonomous agents system Virtual leader structure Output feedback
Xi-Xin Yang Gong-You Tang Yang Li Pei-Dong Wang
College of Information Science and Engineering, Ocean University of China, Qingdao, 266100
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
2845-2849
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）