Multi-leader multi-follower coordination with cohesion, dispersion, and containment control via proximity graphs  

作　　者：Fei CHEN Wei REN Zongli LIN 

机构地区：[1]Department of Automation, Xiamen University [2]Department of Electrical and Computer Engineering, University of California,Riverside CA 92521, USA [3]Charles L.Brown Department of Electrical and Computer Engineering, University of Virginia

出　　处：《Science China(Information Sciences)》2017年第11期105-124,共20页中国科学（信息科学）（英文版）

基　　金：supported in part by National Natural Science Foundation of China (Grant Nos. 61473240, 61528301);National Natural Science Foundation of Fujian Province (Grant No. 2017J01119);111 Project (Grant No. B17048);State Key Laboratory of Intelligent Control and Decision of Complex Systems.

摘　　要：This paper studies the problem of multi-leader multi-follower coordination with proximity-based network topologies. The particular interest is to drive all the followers towards the convex hull formed by the moving leaders while producing cohesion behavior and keeping group dispersion. First, in the case of stationary leaders, we design a gradient-based continuous control algorithm. We show that with this continuous algorithm the control objective can be achieved, and the tracking error bound can be controlled by tuning some control parameters. We apply the continuous control algorithm to the moving leaders case and show that the tracking error bound is related to the velocities of the leaders. However, in this case, the Mgorithm has one restriction that the velocities of the leaders should depend on neighboring followers＇ velocities, which might not be desirable in some scenarios. Therefore, we propose a nonsmooth algorithm for moving leaders which works under the mild assumption of boundedness of leaders＇ velocities. Finally, we present numerical examples to show the validity of the proposed algorithms.This paper studies the problem of multi-leader multi-follower coordination with proximity-based network topologies. The particular interest is to drive all the followers towards the convex hull formed by the moving leaders while producing cohesion behavior and keeping group dispersion. First, in the case of stationary leaders, we design a gradient-based continuous control algorithm. We show that with this continuous algorithm the control objective can be achieved, and the tracking error bound can be controlled by tuning some control parameters. We apply the continuous control algorithm to the moving leaders case and show that the tracking error bound is related to the velocities of the leaders. However, in this case, the Mgorithm has one restriction that the velocities of the leaders should depend on neighboring followers＇ velocities, which might not be desirable in some scenarios. Therefore, we propose a nonsmooth algorithm for moving leaders which works under the mild assumption of boundedness of leaders＇ velocities. Finally, we present numerical examples to show the validity of the proposed algorithms.

关 键 词：cooperative control multi-agent system containment control COHESION DISPERSION collision-freemovement 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]