Multi-formation control of nonlinear leader-following multi-agent systems

Tao Han; Zhi-Hong Guan; Ming Chi; Bin Hu; Tao Li; Xian-He Zhang

doi:10.1016/j.isatra.2017.05.003

Multi-formation control of nonlinear leader-following multi-agent systems

ISA Trans. 2017 Jul:69:140-147. doi: 10.1016/j.isatra.2017.05.003. Epub 2017 May 16.

Authors

Tao Han¹, Zhi-Hong Guan², Ming Chi³, Bin Hu⁴, Tao Li⁵, Xian-He Zhang⁶

Affiliations

¹ College of Automation, Huazhong University of Science and Technology, Wuhan 430074, PR China; College of Mechatronics and Control Engineering, Hubei Normal University, Huangshi 435002, PR China.
² College of Automation, Huazhong University of Science and Technology, Wuhan 430074, PR China. Electronic address: zhguan@mail.hust.edu.cn.
³ College of Automation, Huazhong University of Science and Technology, Wuhan 430074, PR China. Electronic address: chiming@hust.edu.cn.
⁴ College of Automation, Huazhong University of Science and Technology, Wuhan 430074, PR China.
⁵ School of Electronics and Information, Yangtze University, Jingzhou 434023, PR China.
⁶ College of Mechatronics and Control Engineering, Hubei Normal University, Huangshi 435002, PR China.

PMID: 28522029
DOI: 10.1016/j.isatra.2017.05.003

Abstract

This paper deals with the multi-formation control problem for nonlinear leader-following multi-agent systems. Both the fixed topology case and the switching topology case are considered. The neighbor-based multi-formation control protocols are proposed under the assumption that for one subgroup, the total information received from other subgroups is zero. Then, based on the Lyapunov stability theory combined with the algebraic graph theory, sufficient conditions are established to ensure that the leader-following multi-agent systems with nonlinear dynamics can reach and maintain the desired multi-formation control. Finally, simulation examples are provided to illustrate the effectiveness of the theoretical results.

Keywords: Leader-following multi-agent systems; Multi-formation control; Nonlinear dynamics; Switching topology.