| Su Saijun (苏赛军),Nian Xiaohong,Pan Huan.[J].高技术通讯(英文),2012,18(3):326~332 |
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| Trajectory tracking and formation control based on consensus in high-dimensional multi-agent systems |
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| 中文关键词: |
| 英文关键词: consensus protocol, multi-agent systems, fixed topology, trajectory tracking, formation control |
| 基金项目: |
| Author Name | Affiliation | | Su Saijun (苏赛军) | | | Nian Xiaohong | | | Pan Huan | |
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| 英文摘要: |
| This paper discusses consensus problems for high-dimensional networked multi-agent systems with fixed topology. The communication topology of multi-agent systems is represented by a digraph. A new consensus protocol is proposed, and consensus convergence of multi-agent systems is analyzed based on the Lyapunov stability theory. The consensus problem can be formulated into solving a feasible problem with bilinear matrix inequality (BMI) constrains. Furthermore, the consensus protocol is extended to achieving tracking and formation control. By introducing the formation structure set, each agent can gain its individual desired trajectory. Finally, numerical simulations are provided to show the effectiveness of our strategies. The results show that agents from arbitrary initial states can asymptotically reach a consensus. In addition, agents with high-dimensional can track any target trajectory, and maintain desired formation during movement by selecting appropriate structure set. |
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