Double-Graph Formation Control for Co-leader Vehicle Networks

摘要：

The paper studies the directed formation control problem for co-leader vehicle networks. Double graphs are considered: one for sensing graph and the other for communication graph. Complex-valued Laplacians for graphs whose edges are attributed with complex weights are introduced for the purpose of formation control while real-valued Laplacians are involved for synchronizing the velocities. For both single-integrator kinematics and double-integrator dynamics, necessary and sufficient conditions are obtained for complex-valued Laplacian such that the resulting moving formation will not be deformed. Moreover, since the control law with certain choice of complex weights could not always ensure asymptotic stability, we show the existence of a stabilizing matrix that updates the complex weights, but preserves the equilibrium formation and makes the system asymptotically stable. Simulations are presented to illustrate our results.

关键词： Multi-agent systems directed formations double-graph Laplacian

作者: Zhimin Han Lili Wang Zhiyun Lin Gangfeng Yan

作者单位: Asus Intelligent Systems Lab, College of Electrical EngineeringZhejiang University, 38 Zheda Road, H Asus Intelligent Systems Lab, College of Electrical Engineering Zhejiang University, 38 Zheda Road,

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 158-163

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）