This paper establishes a necessary and sufficient condition for designing formation in third-order multi-agent systems which are networked by digraphs. We assume that the control input of each agent is constructed based on weighted difference between its states and those of its neighbor agents, and define the desired time-varying formation with piecewise continuously differentiable vectors. By transforming the formation problem into a consensus problem and using Hurwitz polynomials with complex coefficients, we obtain the necessary and sufficient condition for the multi-agent systems to achieve the desired formation.
|Title of host publication||2018 International Automatic Control Conference, CACS 2018|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Publication status||Published - 2019 Jan 9|
|Event||2018 International Automatic Control Conference, CACS 2018 - Taoyuan, Taiwan, Province of China|
Duration: 2018 Nov 4 → 2018 Nov 7
|Name||2018 International Automatic Control Conference, CACS 2018|
|Conference||2018 International Automatic Control Conference, CACS 2018|
|Country/Territory||Taiwan, Province of China|
|Period||18/11/4 → 18/11/7|
- Hurwitz polynomials with complex coefficients.
- Third-order multi-agent system
ASJC Scopus subject areas
- Control and Optimization
- Modelling and Simulation