NDLI: The design of a controller for multi-agent system formation based on leader-following

Content Provider	IEEE Xplore Digital Library
Author	Jiang Zhao Dingding Cheng Chongqing Hao Chenguang Zong
Copyright Year	2015
Description	Author affiliation: Sch. of Electr. Eng., Hebei Univ. of Sci. & Technol., Shi Jiazhuang, China (Jiang Zhao; Dingding Cheng; Chongqing Hao; Chenguang Zong)
Abstract	This paper concerns the formation control for multi-agent system. Considering the differences between the simulation and the practical situation and to improve the performance of multi-agent, a new method is proposed based on an original controller for multi-agent. In this method, the discrete-time model of agent is present and the velocity of agent is introduced. In the explication of the method, the new controller can achieve any shape formation and maintain formation by setting the relative coordinate between followers and leader and introducing coordinate rotation formula. In minimizing the time spent, the method, which is applicable for the noise case, conforms to the efficiency requirement in practical situation. Then, the stability of the rule is proved through the use of the Routh-Hurwitz criterion. Finally, the method with better rapidity and robustness proposed in this paper is validated by the experimental results.
Starting Page	1017
Ending Page	1022
File Size	539832
Page Count	6
File Format	PDF
e-ISBN	9781467371896
DOI	10.1109/CAC.2015.7382648
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-27
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Rapidity Multi-agent system Control systems Leader-following Robustness Stability analysis Graph theory Formation control Mathematical model Acceleration Multi-agent systems
Content Type	Text
Resource Type	Article

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