Cooperative control of multi-agent moving along a set of given curves |
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Authors: | Yangyang Chen Yuping Tian |
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Institution: | 1.School of Automation,Southeast University,Nanjing,China |
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Abstract: | This paper deals with a cooperative control problem of a team of double-integrator agents moving along a set of given curves
with a nominated formation. A projection-tracking design method is proposed for designing the path-following control and the
formation protocol, which guarantee formation motion of the multi-agent system under a directed communication graph. Necessary
and sufficient conditions of the control gains for solving the coordinated problem are obtained when the directed communication
graph has a globally reachable node. Simulation results of formation motion among three agents demonstrate the effectiveness
of the proposed approach. |
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