Original scientific paper
https://doi.org/10.1080/00051144.2020.1814979
Formation control of first-order multi-agents with region constraint
Zhengquan Yang
; College of Science, Civil Aviation University of China, Tianjin, People’s Republic of China
Xiaofang Pan
; College of Science, Civil Aviation University of China, Tianjin, People’s Republic of China
Qing Zhang
; College of Science, Civil Aviation University of China, Tianjin, People’s Republic of China
Zengqiang Chen
; College of Computer and Control Engineering, Nankai University, Tianjin, People’s Republic of China
Abstract
Formation problem of multi-agents systems has been investigated studied by more and more scientists. This paper studies the formation problem of the first-order multi-agent systems with region constraint. Not only formation control but also the constraint area is considered. The state of each agent is constrained by a common convex set. A formation control protocol is proposed based on the local information of neighbourhood and region constraint. If the communication
topology is connected, and the target framework is rigid, all agents would enter the target area while reaching the desired formation. The convergence of the formation control to the final formation is guaranteed as proven by Lyapunov framework. Compared with the leader follower controller, the controller does not depend on the leader and has good robustness. In addition, the controller can quickly and accurately control all agents to all agents to enter the constrained
area. Finally, the results are illustrated by numerical simulations.
Keywords
Formation; multi-agent systems; set constraint; asymptotic convergence
Hrčak ID:
258403
URI
Publication date:
23.9.2020.
Visits: 607 *