Finite-time formation control for first-order multi-agent systems with region constraints

In this study, the finite-time formation control of multi-agent systems with region constraints is studied. Multiple agents have first-order dynamics and a common target area. A novel control algorithm is proposed using local information and interaction. If the communication graph is undirected and...

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Bibliographic Details
Published in:Frontiers of information technology & electronic engineering 2021, Vol.22 (1), p.134-140
Main Authors: Yang, Zhengquan, Pan, Xiaofang, Zhang, Qing, Chen, Zengqiang
Format: Article
Language:English
Subjects:
Algorithms
Communication
Communications Engineering
Computer Hardware
Computer Science
Computer Systems Organization and Communication Networks
Control algorithms
Control systems
Control theory
Electrical Engineering
Electronics and Microelectronics
Instrumentation
Multiagent systems
Network topologies
Networks
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Summary:In this study, the finite-time formation control of multi-agent systems with region constraints is studied. Multiple agents have first-order dynamics and a common target area. A novel control algorithm is proposed using local information and interaction. If the communication graph is undirected and connected and the desired framework is rigid, it is proved that the controller can be used to solve the formation problem with a target area. That is, all agents can enter the desired region in finite time while reaching and maintaining the desired formation shapes. Finally, a numerical example is given to illustrate the results.
ISSN:2095-9184
2095-9230
DOI:10.1631/FITEE.2000177