Finite-time formation control for first-order multi-agent systems with region constraints

Zhengquan YANG; Xiaofang PAN; Qing ZHANG; Zengqiang CHEN

doi:10.1631/FITEE.2000177

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Finite-time formation control for first-order multi-agent systems with region constraints

Special Issue on Distributed Filtering and Control of Complex Networks and Systems | Updated：2022-05-19

- Finite-time formation control for first-order multi-agent systems with region constraints
- 具有区域约束的一阶多智能体系统的有限时间编队控制
- Frontiers of Information Technology & Electronic Engineering Vol. 22, Issue 1, Pages: 134-140(2021)
- Affiliations：
  
  College of Science, Civil Aviation University of China, Tianjin 300300, China
  College of Artificial Intelligence, Nankai University, Tianjin 300350, China
- Author bio：
  
  YANG Zhengquan, E-mail: zquanyang@163.com
  [ "PAN Xiaofang, E-mail: 1219006322@qq.com" ]
  [ "ZHANG Qing, E-mail: qz120168@hotmail.com" ]
  [ "CHEN Zengqiang, E-mail: chenzq@nankai.edu.cn" ]
- Funds：
- DOI：10.1631/FITEE.2000177
  CLC： TP13
- Received：19 April 2020，
  
  Revised：2020-;9-28，
  
  Published：2021-01
- Accepted：
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Zhengquan YANG, Xiaofang PAN, Qing ZHANG, et al. Finite-time formation control for first-order multi-agent systems with region constraints[J]. Frontiers of Information Technology & Electronic Engineering, 2021, 22(1): 134-140.
DOI：

Zhengquan YANG, Xiaofang PAN, Qing ZHANG, et al. Finite-time formation control for first-order multi-agent systems with region constraints[J]. Frontiers of Information Technology & Electronic Engineering, 2021, 22(1): 134-140. DOI： 10.1631/FITEE.2000177.

摘要

研究具有区域约束的多智能体系统的有限时间编队控制问题。多智能体具有一阶动力学和一个共同目标区域。提出一种利用局部信息和交互作用的控制算法。如果通信图是无向连通的以及所设计框架是刚性的，证明该控制器可用于解决具有目标区域的编队问题。该控制算法可控制所有智能体在有限时间内进入所需区域，同时达到并保持所需队形。最后，给出一个数值例子说明算法的有效性。

Abstract

In this study

the finite-time formation control of multi-agent systems with region constraints is studied. Multiple agents have first-order dynamics and a common target area. A novel control algorithm is proposed using local information and interaction. If the communication graph is undirected and connected and the desired framework is rigid

it is proved that the controller can be used to solve the formation problem with a target area. That is

all agents can enter the desired region in finite time while reaching and maintaining the desired formation shapes. Finally

a numerical example is given to illustrate the results.

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