1. Rolling optimization formation control for multi-agent systems under unknown prior desired shapes.
- Author
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Su, Hao and Tang, Gong-You
- Subjects
- *
MATHEMATICAL optimization , *TRAJECTORY optimization , *MATHEMATICS problems & exercises , *GEOMETRIC shapes , *TRAJECTORY measurements , *MATHEMATICAL models - Abstract
This paper deals with the optimal formation control problem of multi-agent systems under a prior unknown desired shapes. The objective of this paper is to accomplish a rolling optimal formation of multi-agent systems by incorporating trajectory tracking and energy saving control into a unified framework. First, according to the real-time desired position offset between each follower and the leader, the rolling optimization performance indexes are introduced. Then, a distributed rolling optimization algorithm is proposed to realize the desired formation of multi-agent systems under the minimum energy consumption of agents. Finally, several simulation examples are conducted to illustrate the effectiveness of the proposed design algorithm. [ABSTRACT FROM AUTHOR]
- Published
- 2018
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