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Time-varying group formation control for second-order multi-agent systems with switching directed topologies 36

Time-varying group formation control for second-order multi-...

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第36届中国控制会议

作者： Yangfan Li Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

Time-varying group formation control problems for second-order multi-agent systems with switching directed topologies are studied in this *** agents in the multi-agent system are divided into subgroups to form pre-defined time-varying sub-formations and the directed topology can be switching which means that group formation and switching topologies are considered ***,a time-varying group formation protocol with switching directed topologies is proposed using local relative state information of each agent and its *** an algorithm to design the protocol is *** on the piecewise Lyapunov function theory,sufficient conditions for second-order multi-agent systems to achieve time-varying group formation with switching directed topologies are derived together with the time-varying group formation feasibility constraints and the threshold for the dwell ***,a numerical simulation with two subgroups is provided to demonstrate the effectiveness of the obtained theoretical results.

关键词： Time-varying formation group formation second-order dynamics multi-agent system switching directed topology

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Time-varying formation tracking for UGV swarm systems with switching directed topologies

Time-varying formation tracking for UGV swarm systems with s...

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第37届中国控制会议

作者： Chuang Lu Zhenmin Wang Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

Time-varying formation tracking problems for unmanned ground vehicle（UGV） swarm systems with switching directed topologies are investigated, where the follower UGVs form a predefined time-varying formation while tracking the leader UGV. A consensus based protocol is constructed using local neighboring information and an algorithm consisting of three steps is also proposed to design the protocol. Sufficient conditions for the UGV swarm systems to achieve the time-varying formation tracking with switching directed topologies under the designed protocol are presented using the piecewise Lyapunov ***, based on a Ultra-Wind Band（UWB） based indoor navigation system, an experimental platform consisting of four omni-directional UGVs is introduced. Finally, both simulation and experimental examples are presented to demonstrate the effectiveness of the theoretical results.

关键词： Formation tracking control unmanned ground vehicle(UGV) swarm system switching directed topology

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Directional Expulsion for Formation of Distributed Quadrotor UAV Swarm with switching directed Topologies through Induced Attack

Directional Expulsion for Formation of Distributed Quadrotor...

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第43届中国控制会议

作者： Zhaosheng Xu Le Wang Jianxiang Xi Junlong Li Nanchi Liu School of Aerospace Engineering Beijing Institute of Technology Department of Physics Lvliang University

In this paper, a directional expulsion method for quadrotor UAV(unmanned aerial vehicle) swarms with switching directed topologies is investigated. Firstly, an attack strategy aiming at directional expulsion is proposed, and the sufficient and necessary conditions for directional expulsion of swarms with switching directed topologies are given. In addition, explicit expressions of the induced reference function are given to describe the trajectory of the swarm's directional expulsion ***, the validity of the theoretical results is verified by numerical simulations.

关键词： directional expulsion induced attack switching directed topology quadrotor UAV swarm

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