The Formation Control of Multi-agent Systems on a Circle |
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| Qiang Wang, Yuzhen Wang and Huaxiang Zhang, "The Formation Control of Multi-agent Systems on a Circle," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 148-154, Jan. 2018. doi: 10.1109/JAS.2016.7510022 |
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| Authors: | Qiang Wang Yuzhen Wang Huaxiang Zhang |
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| Affiliation: | 1. School of Information Science and Engineering, Shandong Normal University, Jinan 250014, China;2. School of Control Science and Engineering, Shandong University, Jinan 250061, China |
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| Abstract: | This paper investigates the formation control of a class of multi-agent systems moving on a circle, whose topology is a cyclic graph, and presents several new results for the following two cases:Case I, the agents with single-integrator kinematics, and Case Ⅱ, the agents with double-integrator kinematics. Firstly, for Case I, two control protocols are proposed under which the multiagent systems keep a uniformly-spaced formation. Secondly, we study Case Ⅱ, and a control protocol is designed for this case, then the stability of the formation is proved. Finally, three simulations are studied by using our presented results. The study of illustrative examples with simulations shows that our results as well as designed control protocols work very well in studying the formation control of this class of multi-agent systems. |
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| Keywords: | Circle cyclic graph formation control multiagent systems uniformly spaced |
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