@inproceedings{8864f11e0aee402099354cf416cb4d1b,
title = "Multi-Agent Clusters Flocking Control Via High-Order Fully Actuated System Approach",
abstract = "This paper focuses on the clusters flocking control problem of multi-agents by utilizing a high-order fully actuated system (HOFAS) approach. A multilayer leader-following formation model of second-order multi-agent systems (MASs) is established. The mathematical model of the formation system with uncertainties is transformed into a class of HOFASs facilitating the flexibility of control design. A new robust formation control law is designed based on the HOFAS approach, achieving the desired multi-agent clusters flocking. The analysis of the multi-agent clusters flocking formation system is presented based on the Lyapunov function, of which the results show that the formation errors can converge to an ellipsoidal region. Simulation results validate the effectiveness of the theoretical results.",
keywords = "Clusters flocking, Formation control, Multi-agent systems, Nonlinear dynamics, Second-order systems",
author = "Qimin Hou and Zhenhuan Wang and Yabin Gao and Hanjun Shang and Jiyuan Kuang and Zhuang Liu",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024 ; Conference date: 10-05-2024 Through 12-05-2024",
year = "2024",
doi = "10.1109/FASTA61401.2024.10595100",
language = "英语",
series = "Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "488--493",
booktitle = "Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024",
address = "美国",
}