文章基本信息

标题：A Novel Smooth Design for Globally Three-agent Rigid Formation
本地全文：下载
作者：Rui-Bo Guo ; Yang-Yang Chen ; Fa-Xiang Zhang 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2022
卷号：55
期号：3
页码：196-200
DOI：10.1016/j.ifacol.2022.05.034
语种：English
出版社：Elsevier
摘要：This paper solves a rigid formation control problem of three-agent system in the plane motion. A novel global stable formation method is proposed, where some additional items are constructed by a rotation matrix and used to design a control law combined with the negative gradient method. For any desired formation and different initial state, the proposed control law achieves globally stability, and at the same time the collision among the agents is effectively avoided via using a potential function. The simulation results verify the effectiveness of the proposed scheme.
关键词：Multi-agent systemglobal stabilizationrigid formationdistributed control