Finite-time optimal formation control of multi-agent systems on the Lie group SE(3) |
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| Authors: | Yongfang Liu |
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| Affiliation: | State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, College of Engineering, Peking University, Beijing 100871, China |
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| Abstract: | This paper investigates the finite-time optimal formation problem of multi-agent systems on the Lie group SE(3), for the situation when the formation time and/or the cost function need to be considered. Under the condition that the formation time is given according to the task requirement, a finite-time optimal formation controller is proposed for the two-agent case to guarantee that the desired formation is achieved at the given time and the corresponding cost function is optimal. For the systems with multiple agents, the obtained finite-time optimal formation control law has second-order approximation accuracy. Finally, some numerical simulations are provided to illustrate the effectiveness of the theoretical results. |
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| Keywords: | multi-agent system finite-time formation optimal Lie group |
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