Title :
Formation control for multiple autonomous agents based on virtual leader structure
Author :
Yang, Xi-Xin ; Tang, Gong-You ; Li, Yang ; Wang, Pei-Dong
Author_Institution :
Coll. of Inf. Sci. & Eng., Ocean Univ. of China, Qingdao, China
Abstract :
This paper considers the formation control problem for multiple autonomous agents system based on virtual leader structure. The reference output vectors are supposed to be generated by an exosystem which is estimated by using the virtual leader structure. By introducing some concatenation vectors, the single autonomous agent system is transformed into a global multi-agent system and the system quadratic performance index is also transformed into a relevant format. According to the maximum principle, the formation control problem is transformed into solve a two-point boundary value problem. The obtained formation control law consists of analytic output feedback terms which are constructed by the solution of a Riccati matrix equation and a Sylvester matrix equation and a compensation term. The effectiveness and feasibility of the formation control law is demonstrated by a numerical example.
Keywords :
Riccati equations; boundary-value problems; matrix algebra; maximum principle; multi-agent systems; multivariable control systems; Riccati matrix equation; Sylvester matrix equation; analytic output feedback terms; concatenation vectors; exosystem; formation control problem; global multiagent system; maximum principle; multiple autonomous agents; reference output vectors; system quadratic performance index; two-point boundary value problem; virtual leader structure; Autonomous agents; Equations; Mathematical model; Multiagent systems; Performance analysis; Trajectory; Vectors; Formation control; Multiple autonomous agents system; Output feedback; Virtual leader structure;
Conference_Titel :
Control and Decision Conference (CCDC), 2012 24th Chinese
Conference_Location :
Taiyuan
Print_ISBN :
978-1-4577-2073-4
DOI :
10.1109/CCDC.2012.6244451