Weighted centroid tracking control for multi-agent systems

Qingkai Yang; Ming Cao; Hao Fang; Jie Chen

doi:10.1109/CDC.2016.7798388

Weighted centroid tracking control for multi-agent systems

Qingkai Yang
, Ming Cao
, Hao Fang
, Jie Chen

Beijing Institute of Technology
University of Groningen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

11 Scopus citations

Abstract

This paper investigates the weighted centroid formation tracking control for multi-agent systems. First, a class of novel distributed observers is developed for each agent to infer the formation's weighted centroid in finite time. Then, the distance-based control law is proposed based on the estimations, such that the weighted centroid of the formation is driven to track the assigned time-varying reference, meanwhile maintaining the prescribed formation shape. Moreover, the formation stabilization error is shown to converge to zero using the proposed observer-controller scheme utilizing the finite-time Lyapunov stability of the observers. Finally, all the theoretical results are further validated through numerical simulations.

Original language	English
Title of host publication	2016 IEEE 55th Conference on Decision and Control, CDC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	939-944
Number of pages	6
ISBN (Electronic)	9781509018376
DOIs	https://doi.org/10.1109/CDC.2016.7798388
State	Published - 27 Dec 2016
Externally published	Yes
Event	55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States Duration: 12 Dec 2016 → 14 Dec 2016

Publication series

Name	2016 IEEE 55th Conference on Decision and Control, CDC 2016

Conference

Conference	55th IEEE Conference on Decision and Control, CDC 2016
Country/Territory	United States
City	Las Vegas
Period	12/12/16 → 14/12/16

Access to Document

10.1109/CDC.2016.7798388

Cite this

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title = "Weighted centroid tracking control for multi-agent systems",

abstract = "This paper investigates the weighted centroid formation tracking control for multi-agent systems. First, a class of novel distributed observers is developed for each agent to infer the formation's weighted centroid in finite time. Then, the distance-based control law is proposed based on the estimations, such that the weighted centroid of the formation is driven to track the assigned time-varying reference, meanwhile maintaining the prescribed formation shape. Moreover, the formation stabilization error is shown to converge to zero using the proposed observer-controller scheme utilizing the finite-time Lyapunov stability of the observers. Finally, all the theoretical results are further validated through numerical simulations.",

author = "Qingkai Yang and Ming Cao and Hao Fang and Jie Chen",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 55th IEEE Conference on Decision and Control, CDC 2016 ; Conference date: 12-12-2016 Through 14-12-2016",

year = "2016",

month = dec,

day = "27",

doi = "10.1109/CDC.2016.7798388",

language = "英语",

series = "2016 IEEE 55th Conference on Decision and Control, CDC 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "939--944",

booktitle = "2016 IEEE 55th Conference on Decision and Control, CDC 2016",

address = "美国",

}

Yang, Q, Cao, M, Fang, H & Chen, J 2016, Weighted centroid tracking control for multi-agent systems. in 2016 IEEE 55th Conference on Decision and Control, CDC 2016., 7798388, 2016 IEEE 55th Conference on Decision and Control, CDC 2016, Institute of Electrical and Electronics Engineers Inc., pp. 939-944, 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, United States, 12/12/16. https://doi.org/10.1109/CDC.2016.7798388

Weighted centroid tracking control for multi-agent systems. / Yang, Qingkai; Cao, Ming; Fang, Hao et al.
2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 939-944 7798388 (2016 IEEE 55th Conference on Decision and Control, CDC 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Weighted centroid tracking control for multi-agent systems

AU - Yang, Qingkai

AU - Cao, Ming

AU - Fang, Hao

AU - Chen, Jie

PY - 2016/12/27

Y1 - 2016/12/27

N2 - This paper investigates the weighted centroid formation tracking control for multi-agent systems. First, a class of novel distributed observers is developed for each agent to infer the formation's weighted centroid in finite time. Then, the distance-based control law is proposed based on the estimations, such that the weighted centroid of the formation is driven to track the assigned time-varying reference, meanwhile maintaining the prescribed formation shape. Moreover, the formation stabilization error is shown to converge to zero using the proposed observer-controller scheme utilizing the finite-time Lyapunov stability of the observers. Finally, all the theoretical results are further validated through numerical simulations.

AB - This paper investigates the weighted centroid formation tracking control for multi-agent systems. First, a class of novel distributed observers is developed for each agent to infer the formation's weighted centroid in finite time. Then, the distance-based control law is proposed based on the estimations, such that the weighted centroid of the formation is driven to track the assigned time-varying reference, meanwhile maintaining the prescribed formation shape. Moreover, the formation stabilization error is shown to converge to zero using the proposed observer-controller scheme utilizing the finite-time Lyapunov stability of the observers. Finally, all the theoretical results are further validated through numerical simulations.

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U2 - 10.1109/CDC.2016.7798388

DO - 10.1109/CDC.2016.7798388

M3 - 会议稿件

AN - SCOPUS:85010830945

T3 - 2016 IEEE 55th Conference on Decision and Control, CDC 2016

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BT - 2016 IEEE 55th Conference on Decision and Control, CDC 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 55th IEEE Conference on Decision and Control, CDC 2016

Y2 - 12 December 2016 through 14 December 2016

ER -

Weighted centroid tracking control for multi-agent systems

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