Formation Design for Third-Order Multi-Agent Systems

Gesheng Xu, Guisheng Zhai, Chi Huang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2018 International Automatic Control Conference, CACS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538662786
DOIs
Publication statusPublished - 2019 Jan 9
Externally publishedYes
Event2018 International Automatic Control Conference, CACS 2018 - Taoyuan, Taiwan, Province of China
Duration: 2018 Nov 42018 Nov 7

Publication series

Name2018 International Automatic Control Conference, CACS 2018

Conference

Conference2018 International Automatic Control Conference, CACS 2018
CountryTaiwan, Province of China
CityTaoyuan
Period18/11/418/11/7

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Keywords

  • Formation
  • Hurwitz polynomials with complex coefficients.
  • Third-order multi-agent system

ASJC Scopus subject areas

  • Control and Optimization
  • Modelling and Simulation

Cite this

Xu, G., Zhai, G., & Huang, C. (2019). Formation Design for Third-Order Multi-Agent Systems. In 2018 International Automatic Control Conference, CACS 2018 [8606733] (2018 International Automatic Control Conference, CACS 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CACS.2018.8606733