文章基本信息

标题：Formation control of non-identical multi-agent systems
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作者：Djati Wibowo Djamari ; Muhamad Rausyan Fikri ; Bentang Arief Budiman 等
期刊名称：International Journal of Electrical and Computer Engineering
电子版ISSN：2088-8708
出版年度：2022
卷号：12
期号：3
页码：2721-2732
DOI：10.11591/ijece.v12i3.pp2721-2732
语种：English
出版社：Institute of Advanced Engineering and Science (IAES)
摘要：The problem considered in this work is formation control for non-identical linear multi-agent systems (MASs) under a time-varying communication network. The size of the formation is scalable via a scaling factor determined by a leader agent. Past works on scalable formation are limited to identical agents under a fixed communication network. In addition, the formation scaling variable is updated under a leader-follower network. Differently, this work considers a leaderless undirected network in addition to a leader-follower network to update the formation scaling variable. The control law to achieve scalable formation is based on the internal model principle and consensus algorithm. A biased reference output, updated in a distributed manner, is introduced such that each agent tracks a different reference output. Numerical examples show the effectiveness of the proposed method.
关键词：formation control;multi-agent systems;non-identical;size scaling