Robust Average Formation Tracking for Multi-Agent Systems With Multiple Leaders

Tao Jin; Zhi Wei Liu; Hong Zhou; Zhi Hong Guan; Yuzhen Qin; Yonghong Wu

doi:10.1016/j.ifacol.2017.08.404

Robust Average Formation Tracking for Multi-Agent Systems With Multiple Leaders

Tao Jin, Zhi Wei Liu, Hong Zhou, Zhi Hong Guan, Yuzhen Qin, Yonghong Wu

Discrete Technology and Production Automation

Research output: Contribution to journal › Article › Academic › peer-review

3 Citations (Scopus)

44 Downloads (Pure)

Abstract

In this paper, the formation tracking problem of the multi-agent system under disturbances and unmodeled uncertainties has been studied. An identifier-based robust control algorithm using the neighboring relative information has been proposed to ensure the followers to maintain a given, and time-varying formation and track the average state of the leaders at the same time. Some sufficient conditions for the second-order multi-agent system with multiple leaders in the presence of disturbances and unmodeled uncertainties have been proposed based on the graph theory and the Lyapunov method. Numerical simulations are provided to testify the validity of the algorithm.

Original language	English
Pages (from-to)	2427-2432
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	50
Issue number	1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.404
Publication status	Published - 1-Jul-2017

Keywords

Formation control
Lyapunov analysis
Multi-agent systems
Robust formation tracking

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RobustAverageFormationTrackingforMulti-AgentSystemsWithMultipleLeadersFinal publisher's version, 0.99 MBLicence: Taverne

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title = "Robust Average Formation Tracking for Multi-Agent Systems With Multiple Leaders",

abstract = "In this paper, the formation tracking problem of the multi-agent system under disturbances and unmodeled uncertainties has been studied. An identifier-based robust control algorithm using the neighboring relative information has been proposed to ensure the followers to maintain a given, and time-varying formation and track the average state of the leaders at the same time. Some sufficient conditions for the second-order multi-agent system with multiple leaders in the presence of disturbances and unmodeled uncertainties have been proposed based on the graph theory and the Lyapunov method. Numerical simulations are provided to testify the validity of the algorithm.",

keywords = "Formation control, Lyapunov analysis, Multi-agent systems, Robust formation tracking",

author = "Tao Jin and Liu, {Zhi Wei} and Hong Zhou and Guan, {Zhi Hong} and Yuzhen Qin and Yonghong Wu",

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AU - Jin, Tao

AU - Liu, Zhi Wei

AU - Zhou, Hong

AU - Guan, Zhi Hong

AU - Qin, Yuzhen

AU - Wu, Yonghong

PY - 2017/7/1

Y1 - 2017/7/1

N2 - In this paper, the formation tracking problem of the multi-agent system under disturbances and unmodeled uncertainties has been studied. An identifier-based robust control algorithm using the neighboring relative information has been proposed to ensure the followers to maintain a given, and time-varying formation and track the average state of the leaders at the same time. Some sufficient conditions for the second-order multi-agent system with multiple leaders in the presence of disturbances and unmodeled uncertainties have been proposed based on the graph theory and the Lyapunov method. Numerical simulations are provided to testify the validity of the algorithm.

AB - In this paper, the formation tracking problem of the multi-agent system under disturbances and unmodeled uncertainties has been studied. An identifier-based robust control algorithm using the neighboring relative information has been proposed to ensure the followers to maintain a given, and time-varying formation and track the average state of the leaders at the same time. Some sufficient conditions for the second-order multi-agent system with multiple leaders in the presence of disturbances and unmodeled uncertainties have been proposed based on the graph theory and the Lyapunov method. Numerical simulations are provided to testify the validity of the algorithm.

KW - Formation control

KW - Lyapunov analysis

KW - Multi-agent systems

KW - Robust formation tracking

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JF - IFAC-PapersOnLine

IS - 1

ER -

Robust Average Formation Tracking for Multi-Agent Systems With Multiple Leaders

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