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

作     者：Zhengquan YANG Xiaofang PAN Qing ZHANG Zengqiang CHEN Zhengquan YANG;Xiaofang PAN;Qing ZHANG;Zengqiang CHEN

作者机构：College of ScienceCivil Aviation University of ChinaTianjin 300300China College of Artificial IntelligenceNankai UniversityTianjin 300350China 

出 版 物：《Frontiers of Information Technology & Electronic Engineering》 (信息与电子工程前沿（英文版）)

年 卷 期：2021年第22卷第1期

页      面：134-140页

核心收录：

学科分类：0808[工学-电气工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 07[理学] 08[工学] 071102[理学-系统分析与集成] 0810[工学-信息与通信工程] 0711[理学-系统科学] 0839[工学-网络空间安全] 0835[工学-软件工程] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 081103[工学-系统工程] 

基　　金：Project supported by the National Natural Science Foundation of China(Nos.61573199 and 61571441) 

主　　题：Finite-time formation Multi-agent system Asymptotic convergence Set constraint Lyapunov theorem 

摘      要：In this study,the finite-time formation control of multi-agent systems with region constraints is *** agents have first-order dynamics and a common target area.A novel control algorithm is proposed using local information and *** 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 *** is,all agents can enter the desired region in finite time while reaching and maintaining the desired formation ***,a numerical example is given to illustrate the results.