Consensus-Based Formation of Second-Order Multi-Agent Systems via Linear-Transformation-Based Partial Stability Approach

The paper studies the time-invariant formation problem of second-order multi-agent systems under a time-invariant directed communication topology. Extensions of the consensus protocol are introduced in the formation control. By choosing appropriate consensus states, the state-linear-transformation approach and the partial stability theory are adopted to analyze the formation problem. Sufficient and necessary algebraic criteria are derived for the formation regulation problem with or without velocity constrains and the formation tracking problem. They are expressed in terms of Hurwitz stability of matrices which are constructed from the gain matrices of formation control protocols.

[1]  Anouck Girard,et al.  Leaderless Formation Control using Dynamic Extension and Sliding Control , 2008 .

[2]  Yisheng Zhong,et al.  Time-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications , 2015, IEEE Transactions on Control Systems Technology.

[3]  Tucker R. Balch,et al.  Behavior-based formation control for multirobot teams , 1998, IEEE Trans. Robotics Autom..

[4]  Yisheng Zhong,et al.  Formation Control for High-Order Linear Time-Invariant Multiagent Systems With Time Delays , 2014, IEEE Transactions on Control of Network Systems.

[5]  Yangzhou Chen,et al.  Distributed consensus of large-scale multi-agent systems via linear-transformation-based partial stability approach , 2017, Neurocomputing.

[6]  Yuqi Guo,et al.  Output consensus of linear multi-agent systems: Linear-transformation-based partial stability approach , 2014, Proceedings of the 33rd Chinese Control Conference.

[7]  Kar-Han Tan,et al.  High Precision Formation Control of Mobile Robots Using Virtual Structures , 1997, Auton. Robots.

[8]  Bruno Jouvencel,et al.  Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection , 2010 .

[9]  Gerardo Lafferriere,et al.  Decentralized control of vehicle formations , 2005, Syst. Control. Lett..

[10]  Jaime González-Sierra,et al.  Finite-Time Formation Control without Collisions for Multiagent Systems with Communication Graphs Composed of Cyclic Paths , 2015 .

[11]  Yu Wang,et al.  Satellite Formation based on SDDF Method , 2014, J. Networks.

[12]  C. Sabol,et al.  Satellite Formation Flying Design and Evolution , 2001 .

[13]  Reza Olfati-Saber,et al.  Consensus and Cooperation in Networked Multi-Agent Systems , 2007, Proceedings of the IEEE.

[14]  W. Ren.  Consensus strategies for cooperative control of vehicle formations , 2007 .

[15]  Syed Tahir Hussain Rizvi,et al.  Multi-Agent Cooperative Control Consensus: A Comparative Review , 2018 .

[16]  Yangzhou Chen,et al.  Partial Stability Approach to Consensus Problem of Linear Multi-agent Systems , 2014 .

[17]  Khoshnam Shojaei,et al.  Observer-based neural adaptive formation control of autonomous surface vessels with limited torque , 2016, Robotics Auton. Syst..

[18]  Alessandro Giua,et al.  Leader-follower formation via complex Laplacian , 2013, Autom..

[19]  Gianluca Antonelli,et al.  Decentralized time-varying formation control for multi-robot systems , 2014, Int. J. Robotics Res..

[20]  Maarouf Saad,et al.  Robust formation control without velocity measurement of the leader robot , 2013 .

[21]  Salil S. Kanhere,et al.  Multi-Agent Systems: A Survey , 2018, IEEE Access.

[22]  Yangzhou Chen,et al.  Linear-transformation-based analysis and design of state consensus for multi-agent systems with state observers , 2015, J. Frankl. Inst..

[23]  Zhong-Ping Jiang,et al.  Distributed formation control of nonholonomic mobile robots without global position measurements , 2013, Autom..

[24]  Long Wang,et al.  Finite-time formation control for multi-agent systems , 2009, Autom..

[25]  Zengqiang Chen,et al.  Leader-following formation control for second-order multiagent systems with time-varying delay and nonlinear dynamics , 2013 .

[26]  Huagang Liu,et al.  Distributed rigid formation control algorithm for multi-agent systems , 2012, Kybernetes.