Title :
The stability analysis for a class of multi-agent group formation with input saturation constraints
Author :
Shaolei Zhou ; Shi Yan
Author_Institution :
Dept. of Control Eng., Naval Aeronaut. & Astronaut. Univ., Yantai, China
Abstract :
This paper studies the stability problems of Multi-Agent group formation with input constraints. The double-integrator dynamical model with input saturation constraints is established, then the consensus control algorithm is designed. And the condition of how the formation can be built and maintained is introduced. The method of using the diagonal matrix method to handle the input saturation constraints is proposed. Then we analysis the stability of the system and the convergence of it. The simulation proves the correctness of these Idea.
Keywords :
control system synthesis; matrix algebra; mobile robots; multi-agent systems; multi-robot systems; position control; stability; consensus control algorithm design; diagonal matrix method; double-integrator dynamical model; input saturation constraints; mobile robot; multiagent group formation; stability analysis; Algorithm design and analysis; Artificial neural networks; Eigenvalues and eigenfunctions; Equations; Multi-agent systems; Stability analysis; Vectors;
Conference_Titel :
Guidance, Navigation and Control Conference (CGNCC), 2014 IEEE Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4799-4700-3
DOI :
10.1109/CGNCC.2014.7007433
