Finite-time Formation Control for Second-order Multi-agent Systems

摘要：

　　In this paper,a finite-time formation control problem is studied for second-order multi-agent systems.A control protocol is first constructed to achieve the consensus of the multi-agent systems in finite-time with the steady-state velocity being an arbitrary specific value.Then by introducing a virtual agent,called as pre-correction agent,the formation control protocol is designed,and the convergency of the control protocol is proved.Furthermore,a control protocol without velocity measurements is designed to achieve the finite-time formation with both the steady-state velocity and position being arbitrary specific values.In addition,since the obtained protocols include free communicate parameters,different performance can be achieved by assigning the free parameters.Finally,illustrative examples are solved,including an optimal formation problem with communicate parameters as selection variables,which illustrate the efficiency and potential engineering application of the proposed control methods.

关键词： Finite-time consensus Decentralized control Multi-agent systems Formation control

作者: LI Rui SHI Yingjing LI Rangrong

作者单位: School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 61 School of Aeronautics and Astronautics,University of Electronic Science and Technology of China,Chen

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 1761-1766

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）