Consensus and formation control of discrete-time multi-agent systems
作者： Jing Wang , Xiao-hong Nian , Hai-bo Wang
DOI: 10.1007/S11771-011-0818-Z
关键词: Trajectory 、 Structure (mathematical logic) 、 Control theory 、 Multi-agent system 、 Mathematical optimization 、 Discrete time and continuous time 、 Lyapunov stability 、 Protocol (object-oriented programming) 、 Set (abstract data type) 、 Mathematics 、 Control theory
摘要: Consensus problems for discrete-time multi-agent systems were focused on. In order to design effective consensus protocols, which aimed at ensuring that the concerned states of agents converged a common value, new protocol general system was proposed based on Lyapunov stability theory. For with desired trajectory, trajectory tracking and formation control studied. The main idea controller such each agent tracked trajectory. type problem fixed structure, structure set introduced. According set, can track its individual Finally, simulations provided demonstrate effectiveness theoretical results. numerical results show converge zero protocol, is said achieve asymptotically. addition, through designing appropriate controllers, simulation asymptotically form different formations.
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