Paper Info
Title
Distributed Time-Varying Formation Tracking Analysis and Design for Second-Order Multi-Agent Systems.
Abstract
Distributed time-varying formation tracking analysis and design problems for second-order multi-agent systems with one leader are studied respectively, where the states of followers form a predefined time-varying formation while tracking the state of the leader. Different from the previous results on formation tracking control, the formation for the followers can be described by specified time-varying vectors and the trajectory of the leader can also be time-varying. A distributed formation tracking protocol is constructed using only neighboring relative information. Necessary and sufficient conditions for second-order multi-agent systems with one leader to achieve time-varying formation tracking are proposed by utilizing the properties of the Laplacian matrix, where the formation tracking feasibility constraint is also given. An approach to design the formation tracking protocol is proposed by solving an algebraic Riccati equation. The presented results can be applied to deal with the target enclosing problems and consensus tracking problems for second-order multi-agent systems with one target/leader. An application in the target enclosing of multiple vehicles is provided to demonstrate the effectiveness of the theoretical results.
Year
DOI
Venue
2017
10.1007/s10846-016-0421-5
Journal of Intelligent and Robotic Systems
Keywords
Field
DocType
Formation control,Formation tracking,Target enclosing,Multi-agent system
Laplacian matrix,Mathematical optimization,Control theory,Control engineering,Multi-agent system,Algebraic Riccati equation,Mathematics,Trajectory
Journal
Volume
Issue
ISSN
86
2
0921-0296
Citations 
PageRank 
References 
7
0.44
27
Authors
5
Name
Order
Citations
PageRank
Xiwang Dong157335.47
Jie Xiang270.78
Liang Han3345.61
Qingdong Li410212.25
Zhang Ren515322.79