TY - GEN
T1 - Formation Design for Third-Order Multi-Agent Systems
AU - Xu, Gesheng
AU - Zhai, Guisheng
AU - Huang, Chi
PY - 2019/1/9
Y1 - 2019/1/9
N2 - 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.
AB - 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.
KW - Formation
KW - Hurwitz polynomials with complex coefficients.
KW - Third-order multi-agent system
UR - http://www.scopus.com/inward/record.url?scp=85062405830&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85062405830&partnerID=8YFLogxK
U2 - 10.1109/CACS.2018.8606733
DO - 10.1109/CACS.2018.8606733
M3 - Conference contribution
AN - SCOPUS:85062405830
T3 - 2018 International Automatic Control Conference, CACS 2018
BT - 2018 International Automatic Control Conference, CACS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 International Automatic Control Conference, CACS 2018
Y2 - 4 November 2018 through 7 November 2018
ER -