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Affine formation control for heterogeneous multi-agent systems with directed interaction networks.
- Source :
-
Neurocomputing . Feb2019, Vol. 330, p104-115. 12p. - Publication Year :
- 2019
-
Abstract
- Abstract In this paper, affine formation control problems of heterogeneous multi-agent systems with linear dynamics are studied. As a novel method, the affine formation control has the ability to handle various movement constraints based on the affine transformation. A proportional-integral (PI)-type control scheme is proposed to ensure the effective affine formation control of the leader-following group with directed interaction graphs and successfully eliminate the steady-state errors. Sufficient conditions for the selection of control parameters are given and proved. Considering that the followers are subjected to the external bounded time-varying disturbances, the designed protocol shows good robustness and can guarantee uniformly ultimate boundedness of affine formation errors. Numerical simulations are carried out to verify the theoretical results. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 09252312
- Volume :
- 330
- Database :
- Academic Search Index
- Journal :
- Neurocomputing
- Publication Type :
- Academic Journal
- Accession number :
- 133871468
- Full Text :
- https://doi.org/10.1016/j.neucom.2018.11.023