Robust second‐order finite‐time formation control of heterogeneous multi‐agent systems on directed communication graphs
Feng Mei, He Wang, Yiyang Yao, Junjie Fu, Yuan Xiang, Wenwu Yu
Abstract
This study concentrates on the finite‐time (FT) formation control problem for a class of heterogeneous second‐order (SO) multi‐agent systems (MASs), where disturbance may exist in the dynamics of each agent and the communication graph is directed. First of all, a basic FT formation control protocol is proposed for the nominal SO MAS and the finite convergence time is calculated. To solve the FT formation control for a class of heterogeneous SO MASs without using global information, an adaptive FT formation control is then proposed. Finally, two numerical examples are presented to validate the theoretical results.
Topics & Concepts
Multi-agent systemComputer scienceControl theory (sociology)Control (management)Directed graphOrder (exchange)Distributed computingArtificial intelligenceAlgorithmBusinessFinanceDistributed Control Multi-Agent SystemsNeural Networks Stability and SynchronizationUAV Applications and Optimization