DocumentCode :
11993
Title :
Formation control of multi-agent systems with stochastic switching topology and time-varying communication delays
Author :
Dong Xue ; Jing Yao ; Jun Wang ; Yafeng Guo ; Xu Han
Author_Institution :
Dept. of Control Sci. & Eng., Tongji Univ., Shanghai, China
Volume :
7
Issue :
13
fYear :
2013
fDate :
September 5 2013
Firstpage :
1689
Lastpage :
1698
Abstract :
In this study, the authors formulate and study the distributed formation problem of multi-agent systems (MASs) with randomly switching topologies and time-varying delays. The non-linear dynamics of each agent at different time intervals corresponds to different switching mode, and the switching design reflects the changing of travelling path in practical systems. The communication topology of the system switches among finite modes that are governed by a finite-state Markov process. On the basis of artificial potential functions, a formation controller is designed in a general form. Sufficient conditions for stochastic formation stability of the MAS are obtained in terms of a Lyapunov functional and linear matrix inequalities. Some heuristic rules to design a formation controller for the MAS are then presented. Finally, specific potential functions are discussed and corresponding simulation results are provided to demonstrate the effectiveness of the proposed approach.
Keywords :
Lyapunov methods; Markov processes; control system synthesis; decentralised control; delays; distributed control; linear matrix inequalities; multi-agent systems; nonlinear dynamical systems; stability; stochastic systems; telecommunication network topology; time-varying systems; Lyapunov functional; MAS; artificial potential functions; communication topology; distributed formation problem; finite-state Markov process; formation controller; linear matrix inequalities; multiagent systems; nonlinear dynamics; randomly switching topologies; stochastic formation stability; stochastic switching topology; sufficient conditions; time-varying communication delays; travelling path;
fLanguage :
English
Journal_Title :
Control Theory & Applications, IET
Publisher :
iet
ISSN :
1751-8644
Type :
jour
DOI :
10.1049/iet-cta.2011.0325
Filename :
6601038
Link To Document :
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