Output Feedback Based Formation Control of Multi-agent Systems

Time-varying formation control problems for high-order multi-agent systems with directed communication topology are investigated. A general protocol based on output feedback is proposed. By means of variable transformation, the time-varying formation control problems can be transferred into consensu...

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Bibliographic Details
Published in2016 8th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC) Vol. 1; pp. 89 - 93
Main Authors Shaolei Zhou, Yahui Qi, Yuhang Kang, Shi Yan
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2016
Subjects
Algorithm design and analysis
consensus
directed topology
Eigenvalues and eigenfunctions
formation control
linear matrix equality
Multi-agent systems
Output feedback
Protocols
Time-varying systems
Topology
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Summary:Time-varying formation control problems for high-order multi-agent systems with directed communication topology are investigated. A general protocol based on output feedback is proposed. By means of variable transformation, the time-varying formation control problems can be transferred into consensus problems and then stabilization problems. Sufficient conditions are obtained based on Lyapunov stability analyses. An algorithm is presented for multi-agent systems with directed topology to achieve time-varying formation. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results.
DOI:10.1109/IHMSC.2016.244