Decentralized formation control of mobile agents: A unified framework

Fei Chen, Zengqiang Chen, Zhongxin Liu, Linying Xiang and Zhuzhi Yuan

Physica A: Statistical Mechanics and its Applications, 2008, vol. 387, issue 19, 4917-4926

Abstract: This paper studies the formation control problem for systems consisting of multiple mobile agents that are described by first-order differential equations and second-order differential equations respectively. The following issues are investigated: bounded input, disturbance, and time delay. In derivation of the main results, a blend of graph-theoretic and system-theoretic tools is employed, where local potential functions and LaSalle’s Invariant Principle play central roles. Finally, numerical examples which support the analytical results very well are also included.

Keywords: Multi-agent system; Formation control; Local potential function; LaSalle’s invariant principle; Input bound; Disturbance; Time delay (search for similar items in EconPapers)
Date: 2008
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Persistent link: https://EconPapers.repec.org/RePEc:eee:phsmap:v:387:y:2008:i:19:p:4917-4926

DOI: 10.1016/j.physa.2008.04.018

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