Paper Info
Title
Optimal Affine Formation Control Of Linear Multi-Agent System
Abstract
This paper considers the optimal affine formation control of linear multi-agent systems. Existing works are limited to the linear multi-agent system case where the input and system matrices are respectively the identity and zero matrices. In this paper, we relax these requirements and propose a globally optimal scheme with respect to some performance indexes, based on a Linear Quadratic Regulator, for the affine formation control of a linear multi-agent system. Inverse optimality strategy is used to design the control law to minimize some performance index and to stabilize all follower agents to their respective target positions. The result provides a technique to control an entire formation of multi-agent system by controlling only a few agents. A simulation example is provided to illustrate the effectiveness of the control design.
Year
DOI
Venue
2019
10.1109/ICCA.2019.8900001
2019 IEEE 15TH INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA)
Field
DocType
ISSN
Affine transformation,Inverse,Performance index,Control theory,Matrix (mathematics),Multi-agent system,Engineering,Linear-quadratic regulator
Conference
1948-3449
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Okechi Onuoha130.74
Hilton Tnunay230.74
Zhenhong Li316547.51
Zhengtao Ding475764.42