Leader-following formation control of multi-agent networks based on distributed observers

作     者：罗小元 韩娜妮 关新平 

作者机构：Institute of Electrical Engineering Yanshan University 

出 版 物：《Chinese Physics B》 (中国物理B（英文版）)

年 卷 期：2010年第19卷第10期

页      面：7-15页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 070104[理学-应用数学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 071101[理学-系统理论] 0811[工学-控制科学与工程] 0701[理学-数学] 

基　　金：Project supported by the National Natural Science Foundation for Distinguished Young Scholars of China (Grant No. 60525303) the National Natural Science Foundation of China (Grant No. 60704009) the Key Project for Natural Science Research of the Hebei Educational Department (Grant No. ZD200908) the Doctorial Fund of Yanshan University (Grant No. B203) 

主　　题：formation control distributed observer multi-agent system graph theory 

摘      要：To investigate the leader-following formation control, in this paper we present the design problem of control protocols and distributed observers under which the agents can achieve and maintain the desired formation from any initial states, while the velocity converges to that of the virtual leader whose velocity cannot be measured by agents in real time. The two cases of switching topologies without communication delay and fixed topology with time-varying communication delay are both considered for multi-agent networks. By using the Lyapunov stability theory, the issue of stability is analysed for multi-agent systems with switching topologies. Then, by considering the time-varying communication delay, the sufficient condition is proposed for the multi-agent systems with fixed topology. Finally, two numerical examples are given to illustrate the effectiveness of the proposed leader-following formation control protocols.