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Frontiers of Information Technology & Electronic Engineering
ISSN 2095-9184 (print), ISSN 2095-9230 (online)
2021 Vol.22 No.1 P.134-140
Finite-time formation control for first-order multi-agent systems with region constraints
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.
Key words: Finite-time formation, Multi-agent system, Asymptotic convergence, Set constraint, Lyapunov theorem
杨正全1，潘小芳1，张青1，陈增强2
1中国民航大学理学院，中国天津市，300300
2南开大学人工智能学院，中国天津市，300350
摘要：研究具有区域约束的多智能体系统的有限时间编队控制问题。多智能体具有一阶动力学和一个共同目标区域。提出一种利用局部信息和交互作用的控制算法。如果通信图是无向连通的以及所设计框架是刚性的，证明该控制器可用于解决具有目标区域的编队问题。该控制算法可控制所有智能体在有限时间内进入所需区域，同时达到并保持所需队形。最后，给出一个数值例子说明算法的有效性。
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DOI:
10.1631/FITEE.2000177
CLC number:
TP13
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On-line Access:
2021-01-11
Received:
2020-04-19
Revision Accepted:
2020-08-11
Crosschecked:
2020-09-28