Finite-time formation control for first-order multi-agent systems with region constraints

2021, Volume 22, Issue 1

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Frontiers of Information Technology & Electronic Engineering >> 2021, Volume 22, Issue 1 doi: 10.1631/FITEE.2000177

Finite-time formation control for first-order multi-agent systems with region constraints

Affiliation(s): College of Science, Civil Aviation University of China, Tianjin 300300, China; College of Artificial Intelligence, Nankai University, Tianjin 300350, China ; less

Received: 2020-04-19 Accepted: 2021-01-11 Available online: 2021-01-11

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Abstract

In this study, the control of s with region constraints is studied. Multiple agents have first-order dynamics and a common target area. A novel control algorithm is proposed using local information and interaction. If the communication graph is undirected and connected and the desired framework is rigid, it is proved that the controller can be used to solve the formation problem with a target area. That is, all agents can enter the desired region in finite time while reaching and maintaining the desired formation shapes. Finally, a numerical example is given to illustrate the results.

Keywords

Finite-time formation ; Multi-agent system ; Asymptotic convergence ; Set constraint ; Lyapunov theorem

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