Formation Design for Third-Order Multi-Agent Systems

Gesheng Xu, Guisheng Zhai, Chi Huang

研究成果: Conference contribution

抜粋

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.

元の言語English
ホスト出版物のタイトル2018 International Automatic Control Conference, CACS 2018
出版者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781538662786
DOI
出版物ステータスPublished - 2019 1 9
外部発表Yes
イベント2018 International Automatic Control Conference, CACS 2018 - Taoyuan, Taiwan, Province of China
継続期間: 2018 11 42018 11 7

出版物シリーズ

名前2018 International Automatic Control Conference, CACS 2018

Conference

Conference2018 International Automatic Control Conference, CACS 2018
Taiwan, Province of China
Taoyuan
期間18/11/418/11/7

ASJC Scopus subject areas

  • Control and Optimization
  • Modelling and Simulation

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  • これを引用

    Xu, G., Zhai, G., & Huang, C. (2019). Formation Design for Third-Order Multi-Agent Systems. : 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