Trajectory tracking and formation control based on consensus in high-dimensional multi-agent systems  

作　　者：Su Saijun Nian Xiaohong Pan Huan 

机构地区：[1]School of Information Science and Engineering, Central South University, Changsha 410083, P. R. China

出　　处：《High Technology Letters》2012年第3期326-332,共7页高技术通讯（英文版）

基　　金：Supported by the National Natural Science Foundation of China （No. 61075065,60774045, U1134108） and the Ph. D Programs Foundation of Ministry of Education of China （ No. 20110162110041 ）.

摘　　要：This paper discusses consensus problems for high-dimensional networked multi-agent systems with fixed topology. The communication topology of multi-agent systems is represented by a digraph. A new consensus protocol is proposed, and consensus convergence of multigent systems is analyzed based on the Lyapunov stability theory. The consensus problem can be formulated into solving a feasible problem with bilinear matrix inequality （BMI） constrains. Furthermore, the consensus protocol is extended to achieving tracking and formation control. By introducing the formation structure set, each agent can gain its individual desired trajectory. Finally, numerical simulations are provided to show the effectiveness of our strategies. The results show that agents from arbitrary initial states can asymptotically reach a consensus. In addition, agents with high-dimensional can track any target trajectory, and maintain desired formation during movement by selecting appropriate structure set.

关 键 词：consensus protocol multi-agent systems fixed topology trajectory tracking for-mation control 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP242[自动化与计算机技术—控制科学与工程]