Formation control for networked multiagent systems with a minimum energy constraint  

作　　者：Junlong LI Jianxiang XI Ming HE Bing LI 

机构地区：[1]Department of Physics,Lüliang University,Lüliang 033001,China [2]School of Missile Engineering,Rocket Force University of Engineering,Xi’an 710025,China [3]First Military Representative Office of the Rocket Army Equipment Department in Xi’an,Xi’an 710025,China

出　　处：《Chinese Journal of Aeronautics》2023年第1期342-355,共14页中国航空学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(Nos.62176263,62103434,62003363,61703411);the Science Foundation for Distinguished Youth of Shaanxi Province,China(No.2021JC-35);the Youth Science Foundation of Shaanxi Province,China(No.2021JQ-375);the China Postdoctoral Science Special Foundation(No.2021T140790);the China Postdoctoral Science Foundation(No.271004).

摘　　要：Minimum-energy formation achievement problems for networked multiagent systems are investigated,where information networks with leaderless and leader-follower structures are respectively addressed and information networks are randomly switching.The critical feature of this work is that the energy constraint is minimum in the sense of the linear matrix inequality,but limited-budget control and guaranteed-cost control cannot realize a minimum-energy formation.Firstly,the leaderless minimum-energy formation control problem is converted into an asymp-totic stability one via a nonsingular transformation and state space decomposition,and based on linear matrix inequality techniques,sufficient conditions for analysis and design of leaderless minimum-energy formation achievement are proposed,respectively,which can be solved by the generalized eigenvalue method.Then,main results of minimum-energy formation achievement of leaderless networked multiagent systems are extended leader-follower networked multiagent systems,where the asymmetric property of the leader-follower information network is well dealt with by two nonsingular transformations.Finally,two simulation examples are shown to verify the main results for minimum-energy formation achievements of leaderless and leader-follower networked multiagent systems,respectively.

关 键 词：Energy constraint FORMATION Minimum energy consump-tion Networked control systems Switching networks 

分 类 号：TP391.1[自动化与计算机技术—计算机应用技术]