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On-line Access: 2021-01-11

Received: 2020-04-19

Revision Accepted: 2020-08-11

Crosschecked: 2020-09-28

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Citations:  Bibtex RefMan EndNote GB/T7714


Zhengquan Yang


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Frontiers of Information Technology & Electronic Engineering  2021 Vol.22 No.1 P.134-140


Finite-time formation control for first-order multi-agent systems with region constraints

Author(s):  Zhengquan Yang, Xiaofang Pan, Qing Zhang, Zengqiang Chen

Affiliation(s):  College of Science, Civil Aviation University of China, Tianjin 300300, China; more

Corresponding email(s):   zquanyang@163.com, 1219006322@qq.com, qz120168@hotmail.com, chenzq@nankai.edu.cn

Key Words:  Finite-time formation, Multi-agent system, Asymptotic convergence, Set constraint, Lyapunov theorem

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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.

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journal="Frontiers of Information Technology & Electronic Engineering",
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%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
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%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.2000177

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
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SP - 134
EP - 140
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/FITEE.2000177

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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