Adaptive Bipartite Time-Varying Output Formation Control for Multiagent Systems on Signed Directed Graphs

2021 ◽  
pp. 1-14
Author(s):  
Chenhang Yan ◽  
Wei Zhang ◽  
Housheng Su ◽  
Xiaohang Li
Keyword(s):  
Multiagent Systems ◽  
Formation Control ◽  
Directed Graphs ◽  
Time Varying

scholarly journals Energy-Limited Time-Varying Formation Control for Second-Order Multiagent Systems

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Wanzhen Quan ◽  
Yulong Zhao ◽  
Le Wang ◽  
Xiaogang Yang
Keyword(s):  
Control Problem ◽  
Total Energy ◽  
Multiagent Systems ◽  
Formation Control ◽  
Orthogonal Transformation ◽  
Second Order ◽  
Time Varying ◽  
Limited Time ◽  
Leader Following ◽  
Energy Limitation

The energy-limited time-varying formation (ETVF) control problem of second-order multiagent systems (MAS) is addressed for both leaderless and leader-following communication topologies in this paper. Different from the previous results, the joint consideration of energy limitation and formation design is more challenging and practical. First, an ETVF control protocol is presented, and the total energy supply is pregiven and limited, which is more common in practical applications. Then, by an orthogonal transformation, the formation control problem is converted into the consensus stabilization problem for second-order leaderless MAS, where sufficient conditions for the ETVF are derived by joint design of control gains and the total energy. At the same time, the explicit formula that forms the formation center function is obtained to depict the macroscopic movement of the multiagent system as a whole. Moreover, the proposed method is also extended to the leader-following communication structure. Finally, two examples are given to verify the effectiveness of our theoretical results.

scholarly journals Formation Control of Second-Order Multiagent Systems with Time-Varying Delays

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Hong Xia ◽  
Ting-Zhu Huang ◽  
Jin-Liang Shao ◽  
Jun-Yan Yu
Keyword(s):  
Control Problem ◽  
Multiagent Systems ◽  
Formation Control ◽  
Second Order ◽  
Sufficient Condition ◽  
Time Varying ◽  
Consensus Protocol ◽  
Leader Following ◽  
Multiple Leaders ◽  
Theoretical Results

A formation control problem for second-order multiagent systems with time-varying delays is considered. First, a leader-following consensus protocol is proposed for theoretical preparation. With the help of Lyapunov-Krasovskii functional, a sufficient condition under this protocol is derived for stability of the multiagent systems. Then, the protocol is extended to the formation control based on a multiple leaders’ architecture. It is shown that the agents will attain the expected formation. Finally, some simulations are provided to demonstrate the effectiveness of our theoretical results.

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