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Coordinate-free formation control of multi-agent systems using rooted graphs
Liu, Hui1,2; Lin, Zhiyun3; Cao, Ming4; Wang, Xiaoping1,2; Lu, Jinhu5,6
2018-09-01
Source PublicationSYSTEMS & CONTROL LETTERS
ISSN0167-6911
Volume119Pages:8-15
AbstractThis paper studies how to control large formations of autonomous agents in the plane, assuming that each agent is able to sense relative positions of its neighboring agents with respect to its own local coordinate system. We tackle the problem by adopting two types of controllers. First, we use the classical gradient-based controllers on three leader agents to meet their distance constraints. Second, we develop other type of controllers for follower agents: utilizing the properties of rooted graphs, one is able to design linear controllers incorporating relative positions between the follower agents and their neighbors, to stabilize the overall large formations. The advantages of the proposed method are fourfold: (i) fewer constraints on neighboring relationship graphs: (ii) simplicity of linear controllers for follower agents; (iii) global convergence of the overall formations; (iv) implementation in local coordinate systems, in no need of a global coordinate system. Numerical simulations show the effectiveness of the proposed method. (C) 2018 Elsevier B.V. All rights reserved.
KeywordMulti-agent system Formation control Graph theory Stabilization
DOI10.1016/j.sysconle.2018.06.006
Language英语
Funding ProjectNational Natural Science Foundation of China[61773175] ; National Natural Science Foundation of China[61673344] ; National Natural Science Foundation of China[61403154] ; National Natural Science Foundation of China[61621003] ; National Natural Science Foundation of China[61532020] ; National Key Research and Development Program of China[2016YFB0800401] ; National Key Research and Development Program of China[2017YFC1501301] ; Netherlands Organization for Scientific Research[NWO-vidi-14134]
WOS Research AreaAutomation & Control Systems ; Operations Research & Management Science
WOS SubjectAutomation & Control Systems ; Operations Research & Management Science
WOS IDWOS:000442978800002
PublisherELSEVIER SCIENCE BV
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Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/31123
Collection系统科学研究所
Affiliation1.Huazhong Univ Sci & Technol, Sch Automat, Educ Minist China, Wuhan 430074, Hubei, Peoples R China
2.Huazhong Univ Sci & Technol, Key Lab Image Proc & Intelligent Control, Educ Minist China, Wuhan 430074, Hubei, Peoples R China
3.Hangzhou Dianzi Univ, Sch Automat, Hangzhou 310018, Zhejiang, Peoples R China
4.Univ Groningen, Engn & Technol Inst, NL-9747 AG Groningen, Netherlands
5.Chinese Acad Sci, Acad Math & Syst Sci, Beijing 100190, Peoples R China
6.Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100083, Peoples R China
Recommended Citation
GB/T 7714
Liu, Hui,Lin, Zhiyun,Cao, Ming,et al. Coordinate-free formation control of multi-agent systems using rooted graphs[J]. SYSTEMS & CONTROL LETTERS,2018,119:8-15.
APA Liu, Hui,Lin, Zhiyun,Cao, Ming,Wang, Xiaoping,&Lu, Jinhu.(2018).Coordinate-free formation control of multi-agent systems using rooted graphs.SYSTEMS & CONTROL LETTERS,119,8-15.
MLA Liu, Hui,et al."Coordinate-free formation control of multi-agent systems using rooted graphs".SYSTEMS & CONTROL LETTERS 119(2018):8-15.
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