Formation Control of Multi-Agent Systems with Region Constraint

In this paper, the formation problem for multi-agent systems with region constraint is studied while few researchers consider this problem. The goal is to control all multi-agents to enter the constraint area while reaching formation. Each agent is constrained by a common convex set. A formation con...

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Bibliographic Details
Published in:Complexity (New York, N.Y.) N.Y.), 2019, Vol.2019 (2019), p.1-6
Main Authors: Yang, Zhengquan, Chen, Zengqiang, Zhang, Qing
Format: Article
Language:English
Subjects:
Constraints
Control algorithms
Control systems
Control theory
Drone aircraft
Multiagent systems
Researchers
Simulation
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Summary:In this paper, the formation problem for multi-agent systems with region constraint is studied while few researchers consider this problem. The goal is to control all multi-agents to enter the constraint area while reaching formation. Each agent is constrained by a common convex set. A formation control law is presented based on local information of the neighborhood. It is proved that the positions of all the agents would converge to the set constraint while reaching formation. Finally, two numerical examples are presented to illustrate the validity of the theoretical results.
ISSN:1076-2787
1099-0526
DOI:10.1155/2019/8481060