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Achieving Cluster Formation of Multi-Agent Systems Under Aperiodic Sampling and Communication Delays.
- Source :
-
IEEE Transactions on Industrial Electronics . Apr2018, Vol. 65 Issue 4, p3417-3426. 10p. - Publication Year :
- 2018
-
Abstract
- This paper addresses the problem of cluster formation control for a networked multi-agent system (MAS) in the simultaneous presence of aperiodic sampling and communication delays. First, to fulfill multiple formation tasks, a group of agents are decomposed into $M$ distinct and nonoverlapping clusters. The agents in each cluster are then driven to achieve a desired formation, whereas the MAS as a whole accomplishes $ M $ cluster formations. Second, by a proper modeling of aperiodic sampling and communication delays, an aperiodic sampled-data cluster formation protocol (CFP) is delicately constructed such that the information exchanges among neighboring agents only occur intermittently at discrete instants of time. Third, a detailed theoretical analysis of cluster formability is carried out and a sufficient and necessary condition is provided such that the system is $M$-cluster formable. Furthermore, a discontinuous Lyapunov functional approach is developed to derive a design criterion on the existence of an admissible sampled-data CFP. Finally, numerical simulations on a team of nonholonomic mobile robots are given to illustrate the effectiveness of the obtained theoretical result. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 02780046
- Volume :
- 65
- Issue :
- 4
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Industrial Electronics
- Publication Type :
- Academic Journal
- Accession number :
- 128934420
- Full Text :
- https://doi.org/10.1109/TIE.2017.2752148