Time-Varying Formation Control For Second-Order Discrete-Time Multi- Agent Systems With Switching Topologies and Nonuniform Communication Delays
Time-varying formation control and velocity tracking problems for second-order discrete-time multi-agent systems with switching jointly-connected topologies and nonuniform communication delays are investigated. A local information-based distributed protocol is designed by utilizing the instantaneous...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8721632/ |
| _version_ | 1819276606347149312 |
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| author | Lyulong He Jiaqiang Zhang Yueqi Hou Xiaolong Liang Peng Bai |
| author_facet | Lyulong He Jiaqiang Zhang Yueqi Hou Xiaolong Liang Peng Bai |
| author_sort | Lyulong He |
| collection | DOAJ |
| description | Time-varying formation control and velocity tracking problems for second-order discrete-time multi-agent systems with switching jointly-connected topologies and nonuniform communication delays are investigated. A local information-based distributed protocol is designed by utilizing the instantaneous states of the agent itself and the delayed states of its neighbors. Through model transformation and stability analysis, an explicit mathematical description of a feasible time-varying formation set is proposed. Necessary and sufficient conditions for the systems with switching topologies and nonuniform communication delays to achieve the feasible time-varying formation are obtained. The coupling constraints on the gain parameters and sampling period are proposed, so as to guide the design of parameters in the protocol. We include the effects of velocity tracking error damping gain in the protocol and derive milder conditions which allow for not only bounded nonuniform communication delays but also for dynamically switching directed graphs that are jointly connected. The numerical examples are further presented to illustrate the validity and effectiveness of the obtained results. |
| first_indexed | 2024-12-23T23:42:53Z |
| format | Article |
| id | doaj.art-3cb6bafb5fe94966996c4268584ee7a1 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-23T23:42:53Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-3cb6bafb5fe94966996c4268584ee7a12022-12-21T17:25:35ZengIEEEIEEE Access2169-35362019-01-017653796538910.1109/ACCESS.2019.29188648721632Time-Varying Formation Control For Second-Order Discrete-Time Multi- Agent Systems With Switching Topologies and Nonuniform Communication DelaysLyulong He0https://orcid.org/0000-0002-1142-5704Jiaqiang Zhang1Yueqi Hou2https://orcid.org/0000-0002-7875-3526Xiaolong Liang3Peng Bai4Shaanxi Province Laboratory of Meta-synthesis for Electronic and Information Systems, Xi’an, ChinaNational Key Laboratory of Air Traffic Collision Prevention, Air Force Engineering University, Xi’an, ChinaNational Key Laboratory of Air Traffic Collision Prevention, Air Force Engineering University, Xi’an, ChinaNational Key Laboratory of Air Traffic Collision Prevention, Air Force Engineering University, Xi’an, ChinaShaanxi Province Laboratory of Meta-synthesis for Electronic and Information Systems, Xi’an, ChinaTime-varying formation control and velocity tracking problems for second-order discrete-time multi-agent systems with switching jointly-connected topologies and nonuniform communication delays are investigated. A local information-based distributed protocol is designed by utilizing the instantaneous states of the agent itself and the delayed states of its neighbors. Through model transformation and stability analysis, an explicit mathematical description of a feasible time-varying formation set is proposed. Necessary and sufficient conditions for the systems with switching topologies and nonuniform communication delays to achieve the feasible time-varying formation are obtained. The coupling constraints on the gain parameters and sampling period are proposed, so as to guide the design of parameters in the protocol. We include the effects of velocity tracking error damping gain in the protocol and derive milder conditions which allow for not only bounded nonuniform communication delays but also for dynamically switching directed graphs that are jointly connected. The numerical examples are further presented to illustrate the validity and effectiveness of the obtained results.https://ieeexplore.ieee.org/document/8721632/Multi-agent systemsconsensus controltime-varying formationswitching directed topologyvelocity trackingcommunication delay |
| spellingShingle | Lyulong He Jiaqiang Zhang Yueqi Hou Xiaolong Liang Peng Bai Time-Varying Formation Control For Second-Order Discrete-Time Multi- Agent Systems With Switching Topologies and Nonuniform Communication Delays IEEE Access Multi-agent systems consensus control time-varying formation switching directed topology velocity tracking communication delay |
| title | Time-Varying Formation Control For Second-Order Discrete-Time Multi- Agent Systems With Switching Topologies and Nonuniform Communication Delays |
| title_full | Time-Varying Formation Control For Second-Order Discrete-Time Multi- Agent Systems With Switching Topologies and Nonuniform Communication Delays |
| title_fullStr | Time-Varying Formation Control For Second-Order Discrete-Time Multi- Agent Systems With Switching Topologies and Nonuniform Communication Delays |
| title_full_unstemmed | Time-Varying Formation Control For Second-Order Discrete-Time Multi- Agent Systems With Switching Topologies and Nonuniform Communication Delays |
| title_short | Time-Varying Formation Control For Second-Order Discrete-Time Multi- Agent Systems With Switching Topologies and Nonuniform Communication Delays |
| title_sort | time varying formation control for second order discrete time multi agent systems with switching topologies and nonuniform communication delays |
| topic | Multi-agent systems consensus control time-varying formation switching directed topology velocity tracking communication delay |
| url | https://ieeexplore.ieee.org/document/8721632/ |
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