GLOBALLY ASYMPTOTICALLY STABLE FORMATION CONTROL OF THREE AGENTS

作     者：Qin WANG Yu-Ping TIAN Yaojin XU 

作者机构：School of AutomationSoutheast University 

出 版 物：《Journal of Systems Science & Complexity》 (系统科学与复杂性学报（英文版）)

年 卷 期：2012年第25卷第6期

页      面：1068-1079页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 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：supported by National Nature Science Foundation under Grant Nos.60974041,60934006 Research Fund for the Doctoral Program of Higher Education of China under Grant No.20090092110021 

主　　题：Formation control global asymptotic stability multi-agents system. 

摘      要：This paper considers the formatiomshape control of three agents in the plane. By adding an adaptive perturbation to any agent＇s movement direction, a novel control strategy is proposed. It is shown that the proposed novel control law can not only guarantee the global asymptotical stability of the desired formation shape, but also ensure the collision avoidance of agents between each other. Simulation results are provided to illustrate the effectiveness of the control algorithm.