文章基本信息

标题：Singularly Perturbed Algorithms for Velocity Consensus and Shape Control of Single Integrator Multi-Agent Systems ⁎
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作者：Mohammad Deghat ; Zhiyong Sun ; Dragan Nešić 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：23
页码：200-205
DOI：10.1016/j.ifacol.2018.12.035
语种：English
出版社：Elsevier
摘要：AbstractThis paper studies a distributed multi-agent control problem in which the agents have single-integrator dynamics. A distributed control law is proposed to drive the agents to attain a desired formation shape and acquire an identical velocity. Using singular perturbation theory and stability results for nonlinear cascade systems, it is shown that agents can achieve the desired formation shape and velocity at different time scales. Moreover, it is shown that there exists an upper bound for a time-scale parameter (perturbation parameter) in the control law such that for time-scale parameters less than this bound, the initial conditions of the shape control error system will remain in a stability basin of the equilibrium. Simulation results are provided to validate the proposed algorithm.
关键词：KeywordsMulti-agent systemconsensusformation shape controlsingular perturbation