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

fYear

2014

fDate

8-10 Aug. 2014

Firstpage

1618

Lastpage

1623

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Guidance, Navigation and Control Conference (CGNCC), 2014 IEEE Chinese

Conference_Location

Yantai

Print_ISBN

978-1-4799-4700-3

Type

conf

DOI

10.1109/CGNCC.2014.7007433

Filename

7007433