Coordinate-free formation control of multi-agent systems using rooted graphs

doi:10.1016/j.sysconle.2018.06.006

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	Coordinate-free formation control of multi-agent systems using rooted graphs
	Liu, Hui 1,2; Lin, Zhiyun 3; Cao, Ming 4; Wang, Xiaoping 1,2; Lu, Jinhu5,6
	2018-09-01
发表期刊	SYSTEMS & CONTROL LETTERS
ISSN	0167-6911
卷号	119 页码:8-15
摘要	This 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.
关键词	Multi-agent system Formation control Graph theory Stabilization
DOI	10.1016/j.sysconle.2018.06.006
语种	英语
资助项目	National 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研究方向	Automation & Control Systems ; Operations Research & Management Science
WOS类目	Automation & Control Systems ; Operations Research & Management Science
WOS记录号	WOS:000442978800002
出版者	ELSEVIER SCIENCE BV
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/31123
专题	系统科学研究所
通讯作者	Liu, Hui
作者单位	1.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
推荐引用方式 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.