DocumentCode :
3203011
Title :
Formation tracking of fractional-order multi-agent systems based on error predictor
Author :
Jing Bai ; Guoguang Wen ; Rahmani, Ahmed ; Yongguang Yu
Author_Institution :
CRIStAL, Ecole Centrale de Lille, Villeneuve d´Ascq, France
fYear :
2015
fDate :
23-25 May 2015
Firstpage :
279
Lastpage :
284
Abstract :
In this paper, formation tracking problem of fractional-order multi-agent systems is studied under fixed directed communication graph. Firstly, a control law based on error predictor is proposed to achieve formation tracking. Then, the effectiveness of the control law is proved by using matrix theory, graph theory and fractional-order theory. It is shown that the formation tracking can be achieved by using the proposed control law if and only if the directed communication graph among agents has a directed spanning tree. Finally, based on the numerical method, several simulations are given to illustrate the effectiveness of the obtained results.
Keywords :
directed graphs; matrix algebra; multi-robot systems; numerical analysis; trees (mathematics); control law; directed spanning tree; error predictor; fixed directed communication graph; formation tracking; fractional-order multiagent system; fractional-order theory; graph theory; matrix theory; numerical method; Control systems; Eigenvalues and eigenfunctions; Graph theory; Mobile robots; Multi-agent systems; Robot kinematics; Formation tracking; Fractional-order; Multi-agent systems; Reference state;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
Type :
conf
DOI :
10.1109/CCDC.2015.7161704
Filename :
7161704
Link To Document :
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