Finite-time formation of multiple agents based on multiple virtual leaders

Zhifeng Qiu, Xintao Zhao, Siming Li, Yongfang Xie, Chaoyang Chen and Weihua Gui

International Journal of Systems Science, 2018, vol. 49, issue 16, 3448-3458

Abstract: The finite-time formation problem of multiple agents aims to find a control protocol to guarantee finite-time consensus, in which every agent can be in the right position and keep in the given formation configuration efficiently. However, it is hard to achieve a stable state if only by setting one virtual leader in multiple tasks system. This paper presents a formation controller design for a second-order multiple agents to address the finite-time formation problem. In the procedure, each agent has a virtual leader, and then a control law is designed so that the agents can keep pace with their virtual leaders in terms of speed and position. Accordingly, the controller can ensure that the relative positions among different agents and the trajectory of the whole formation can be specified in advance. Moreover, since the closed-loop system is finite-time stable, which implies that the required formation is attainable without a deviation in finite time. Finally, the stability analysis is proved by applying the graph theory, Lyapunov stability theory and homogeneous system theory. The effectiveness of the algorithm is demonstrated by numerical simulations.

Date: 2018
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2018.1542754 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:49:y:2018:i:16:p:3448-3458

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2018.1542754

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().