Title :
Distributed velocity observer based formation control for multi-agent systems
Author :
Luo Xiaoyuan ; Li Xu ; Li Xiaolei ; Guan Xinping
Author_Institution :
Sch. of Electr. Eng., Yanshan Univ., Qinhuangdao, China
Abstract :
This paper is concerned with a leader-following formation problem for second-order continuous-time multi-agent systems. In view of the time-varying interaction between agents, a switching topology strategy is proposed to describe the relationship of agents. In addition, distributed observers are designed for agents, under the common assumption that the velocity of agents cannot be measured. By using Lyapunov stability theory, some sufficient conditions are obtained to prove the system stability. Finally, numerical simulations are provided to show the validity of the results.
Keywords :
Lyapunov methods; continuous time systems; distributed control; mobile robots; multi-robot systems; observers; position control; stability; time-varying systems; topology; velocity control; Lyapunov stability theory; agent relationship; agent time-varying interaction; agent velocity; distributed observer design; distributed velocity observer based formation control multiagent systems; leader-following formation problem; numerical simulations; second-order continuous-time multiagent systems; sufficient conditions; switching topology strategy; system stability proving; Decision support systems; Distributed observer; Formation; Multi-agent System; Switching topology;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896892
