Formation-containment control for nonholonomic multi-agent systems with a desired trajectory constraint  

作　　者：GU Xueqiang LU Lina XIANG Fengtao ZHANG Wanpeng 

机构地区：[1]College of Intelligence Science and Technology,National University of Defense Technology,Changsha 410073,China

出　　处：《Journal of Systems Engineering and Electronics》2025年第1期256-268,共13页系统工程与电子技术(英文版)

摘　　要：This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired trajectory. Input the fixed time-varying formation template to the leader and start executing, this process also needs to track the desired trajectory, and the follower needs to converge to the convex hull that the leader crosses. Firstly, the dynamic models of nonholonomic systems are linearized to second-order dynamics. Then, based on the desired trajectory and formation template, the FC control protocols are proposed. Sufficient conditions to achieve FC are introduced and an algorithm is proposed to resolve the control parameters by solving an algebraic Riccati equation. The system is demonstrated to achieve FC, with the average position and velocity of the leaders converging asymptotically to the desired trajectory. Finally, the theoretical achievements are verified in simulations by a multi-agent system composed of virtual human individuals.

关 键 词：multi-agent systems nonholonomic dynamics formation-containment(FC)control desired trajectory constrains 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]