Abstract Distributed formation control of Second-order Multi-agent Systems has been discussed in this paper. A consensus-based cooperative formation control strategy with both input delay and communication delay has been proposed. The control strategy not only consider the deviation between the actual speed and the standard speed, but also, on the basis of this, consider the deviation between the actual displacement and the standard displacement. In order to achieve a faster consensus seeking, the tow-hop relay protocol has been introduced into the strategy. The control strategy makes agents can build up stable and desired formation and move at expected speed. Based on the frequency-domain analysis and matrix theory, the distributed conditions are proved for the formation control of system. A six-vehicle formation control example is shown in simulation as an illustrative example.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Formation Problem of Second-Order Multi-agent Systems with Input Delay and Communication Delay


    Beteiligte:
    Chai, Yun (Autor:in) / Cao, Ke-cai (Autor:in)


    Erscheinungsdatum :

    2017-01-01


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Delay dependent criteria for the consensus of second‐order multi‐agent systems subject to communication delay

    Nejadvali, Amir / Esfanjani, Reza Mahboobi / Farnam, Arash et al. | BASE | 2021

    Freier Zugriff

    Cooperative Multi-UAV Search Problem with Communication Delay

    Mirzaei, Mostafa / Gordon, Brandon / Rabbath, Camille-Allain et al. | AIAA | 2010


    Second-Order Average Consensus with Buffer Design in Multi-agent System with Time-Varying Delay

    Yang, Junxian / Hui, Li / Wang, Peidong et al. | Springer Verlag | 2017



    Consensus problem of heterogeneous multi-agent systems with time delay under fixed and switching topologies

    Dai, P. P. / Liu, C. L. / Liu, F. | British Library Online Contents | 2014