SIAM Journal on Control and Optimization
Finite-Time Stability of Continuous Autonomous Systems
SIAM Journal on Control and Optimization
Technical Communique: On decentralized negotiation of optimal consensus
Automatica (Journal of IFAC)
Brief paper: Consensus protocols for discrete-time multi-agent systems with time-varying delays
Automatica (Journal of IFAC)
Finite-time convergent gradient flows with applications to network consensus
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Brief paper: Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics
Automatica (Journal of IFAC)
Synchronization of multi-agent systems with delayed control input information from neighbors
Automatica (Journal of IFAC)
Finite-time distributed consensus via binary control protocols
Automatica (Journal of IFAC)
Output consensus analysis and design for high-order linear swarm systems: Partial stability method
Automatica (Journal of IFAC)
Trajectory Planning and Control for Airport Snow Sweeping by Autonomous Formations of Ploughs
Journal of Intelligent and Robotic Systems
Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups
Journal of Intelligent and Robotic Systems
Technical communique: Attitude synchronization control for a group of flexible spacecraft
Automatica (Journal of IFAC)
Hi-index | 22.16 |
In this paper, we develop a new finite-time formation control framework for multi-agent systems with a large population of members. In this framework, we divide the formation information into two independent parts, namely, the global information and the local information. The global formation information decides the geometric pattern of the desired formation. Furthermore, it is assumed that only a small number of agents, which are responsible for the navigation of the whole team, can obtain the global formation information, and the other agents regulate their positions by the local information in a distributed manner. This approach can greatly reduce the data exchange and can easily realize various kinds of complex formations. As a theoretical preparation, we first propose a class of nonlinear consensus protocols, which ensures that the related states of all agents will reach an agreement in a finite time under suitable conditions. And then we apply these consensus protocols to the formation control, including time-invariant formation, time-varying formation and trajectory tracking, respectively. It is shown that all agents will maintain the expected formation in a finite time. Finally, several simulations are worked out to illustrate the effectiveness of our theoretical results.