Formation control of multi-agent systems with region constraint

DOI10.1155/2019/8481060MaRDI QIDQ2281998zbMATH OpenOpenAlexWikidataFDO

Authors Z. Q. Yang, Qing Zhang, Zengqiang Chen

Publication date 6 January 2020

Published in Complexity (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2019/8481060

Mathematics Subject Classification ID

Multi-agent systems (93A16) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

Review text

Summary: In this paper, the formation problem for multi-agent systems with region constraint is studied while few researchers consider this problem. The goal is to control all multi-agents to enter the constraint area while reaching formation. Each agent is constrained by a common convex set. A formation control law is presented based on local information of the neighborhood. It is proved that the positions of all the agents would converge to the set constraint while reaching formation. Finally, two numerical examples are presented to illustrate the validity of the theoretical results.

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Cited in

(5)

• Decentralized multi-agent formation control with pole-region placement via cone-complementarity linearization
• Robust time-varying output formation control for swarm systems with nonlinear uncertainties
• Formation Potential Field for Trajectory Tracking Control of Multi-Agents in Constrained Space
• Multi-agent flocking formation driven by distributed control with topological specifications
• Scalable multi-agent formation control under switching leader-follower directed graph

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