Specified-Time Affine Formation Maneuver Control of Multiagent Systems Over Directed Networks

• 成果类型: Article
• 署名作者: Zhao, Yu; Gao, Kai; Huang, Panfeng; Chen, Guanrong
• 署名单位: Northwestern Polytechnical University; Northwestern Polytechnical University; City University of Hong Kong
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3309325
• 发表日期: 2024
• 页码: 1936-1943
• 关键词: convergence; stress; Directed graphs; Formation control; Laplace equations; Heuristic algorithms; Eigenvalues and eigenfunctions; Affine formation maneuver; directed graph; motion-planning technique; specified-time control

摘要

In this article, the specified-time affine formation maneuver control (AFMC) problem is studied with a leader-follower structure over a directed communication network. First, by means of Pontraygin's maximum principle and motion-planning techniques, a specified-time AFMC algorithm is designed for the second-integrator systems with dynamic leaders, which can lead the followers to achieve the desired affine formation at a specified settling time according to mission requirements and environmental constraints. Furthermore, the specified-time AFMC problem without velocity measurement is studied. The global convergence and stability of the closed-loop system with proposed control algorithms are analyzed. Compared with the existing finite-time AFMC algorithms, a prominent advantage of the proposed specified-time algorithms is that the convergence moment of AFMC can be accurately scheduled and appointed in advance. Finally, an example is simulated to verify the effectiveness of the proposed algorithms.