Formation Design for Third-Order Multi-Agent Systems

Gesheng Xu; Guisheng Zhai; Chi Huang

doi:10.1109/CACS.2018.8606733

Formation Design for Third-Order Multi-Agent Systems

Gesheng Xu, Guisheng Zhai, Chi Huang

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper establishes a necessary and sufficient condition for designing formation in third-order multi-agent systems which are networked by digraphs. We assume that the control input of each agent is constructed based on weighted difference between its states and those of its neighbor agents, and define the desired time-varying formation with piecewise continuously differentiable vectors. By transforming the formation problem into a consensus problem and using Hurwitz polynomials with complex coefficients, we obtain the necessary and sufficient condition for the multi-agent systems to achieve the desired formation.

Original language	English
Title of host publication	2018 International Automatic Control Conference, CACS 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538662786
DOIs	https://doi.org/10.1109/CACS.2018.8606733
Publication status	Published - 2019 Jan 9
Externally published	Yes
Event	2018 International Automatic Control Conference, CACS 2018 - Taoyuan, Taiwan, Province of China Duration: 2018 Nov 4 → 2018 Nov 7

Publication series

Name	2018 International Automatic Control Conference, CACS 2018

Conference

Conference	2018 International Automatic Control Conference, CACS 2018
Country/Territory	Taiwan, Province of China
City	Taoyuan
Period	18/11/4 → 18/11/7

Keywords

Formation
Hurwitz polynomials with complex coefficients.
Third-order multi-agent system

ASJC Scopus subject areas

Control and Optimization
Modelling and Simulation

Access to Document

10.1109/CACS.2018.8606733

Cite this

Formation Design for Third-Order Multi-Agent Systems. / Xu, Gesheng; Zhai, Guisheng; Huang, Chi.
2018 International Automatic Control Conference, CACS 2018. Institute of Electrical and Electronics Engineers Inc., 2019. 8606733 (2018 International Automatic Control Conference, CACS 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Xu, G, Zhai, G & Huang, C 2019, Formation Design for Third-Order Multi-Agent Systems. in 2018 International Automatic Control Conference, CACS 2018., 8606733, 2018 International Automatic Control Conference, CACS 2018, Institute of Electrical and Electronics Engineers Inc., 2018 International Automatic Control Conference, CACS 2018, Taoyuan, Taiwan, Province of China, 18/11/4. https://doi.org/10.1109/CACS.2018.8606733

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language = "English",

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AB - This paper establishes a necessary and sufficient condition for designing formation in third-order multi-agent systems which are networked by digraphs. We assume that the control input of each agent is constructed based on weighted difference between its states and those of its neighbor agents, and define the desired time-varying formation with piecewise continuously differentiable vectors. By transforming the formation problem into a consensus problem and using Hurwitz polynomials with complex coefficients, we obtain the necessary and sufficient condition for the multi-agent systems to achieve the desired formation.

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M3 - Conference contribution

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Formation Design for Third-Order Multi-Agent Systems

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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