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CLC number: TP13
On-line Access: 2024-08-27
Received: 2023-10-17
Revision Accepted: 2024-05-08
Crosschecked: 2020-09-28
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Finite-time formation control for first-order multi-agent systems with region constraints
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Zhengquan Yang, Xiaofang Pan, Qing Zhang, Zengqiang Chen. Finite-time formation control for first-order multi-agent systems with region constraints[J]. Frontiers of Information Technology & Electronic Engineering, 2021, 22(1): 134-140.
@article{title="Finite-time formation control for first-order multi-agent systems with region constraints",
author="Zhengquan Yang, Xiaofang Pan, Qing Zhang, Zengqiang Chen",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="22",
number="1",
pages="134-140",
year="2021",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.2000177"
}
%0 Journal Article
%T Finite-time formation control for first-order multi-agent systems with region constraints
%A Zhengquan Yang
%A Xiaofang Pan
%A Qing Zhang
%A Zengqiang Chen
%J Frontiers of Information Technology & Electronic Engineering
%V 22
%N 1
%P 134-140
%@ 2095-9184
%D 2021
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.2000177
TY - JOUR
T1 - Finite-time formation control for first-order multi-agent systems with region constraints
A1 - Zhengquan Yang
A1 - Xiaofang Pan
A1 - Qing Zhang
A1 - Zengqiang Chen
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 22
IS - 1
SP - 134
EP - 140
%@ 2095-9184
Y1 - 2021
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.2000177
Abstract: In this study, the finite-time formation control of multi-agent systems with region constraints is studied. Multiple agents have first-order dynamics and a common target area. A novel control algorithm is proposed using local information and interaction. If the communication graph is undirected and connected and the desired framework is rigid, it is proved that the controller can be used to solve the formation problem with a target area. That is, all agents can enter the desired region in finite time while reaching and maintaining the desired formation shapes. Finally, a numerical example is given to illustrate the results.
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