TY - JOUR
T1 - Affine formation control for multi-agent systems with prescribed convergence time
AU - Wang, Jianan
AU - Ding, Xiangjun
AU - Wang, Chunyan
AU - Liang, Li
AU - Hu, Han
N1 - Publisher Copyright:
© 2021 The Franklin Institute
PY - 2021/9
Y1 - 2021/9
N2 - In this paper, the affine formation control problem for multi-agent systems with prescribed convergence time is investigated. Firstly, on the basis of a time-varying scaling function, a distributed continuous control algorithm is designed, under which a stationary affine formation of the nominal configuration is able to be achieved within a prescribed time. Secondly, to track a time-varying formation within the prescribed time, a distributed control protocol is proposed by employing a leader–follower control strategy. Furthermore, the boundary layer technique is adopted to avoid chattering effect. Finally, simulation examples are provided to demonstrated the effectiveness of the proposed design.
AB - In this paper, the affine formation control problem for multi-agent systems with prescribed convergence time is investigated. Firstly, on the basis of a time-varying scaling function, a distributed continuous control algorithm is designed, under which a stationary affine formation of the nominal configuration is able to be achieved within a prescribed time. Secondly, to track a time-varying formation within the prescribed time, a distributed control protocol is proposed by employing a leader–follower control strategy. Furthermore, the boundary layer technique is adopted to avoid chattering effect. Finally, simulation examples are provided to demonstrated the effectiveness of the proposed design.
UR - http://www.scopus.com/inward/record.url?scp=85112097166&partnerID=8YFLogxK
U2 - 10.1016/j.jfranklin.2021.07.019
DO - 10.1016/j.jfranklin.2021.07.019
M3 - Article
AN - SCOPUS:85112097166
SN - 0016-0032
VL - 358
SP - 7055
EP - 7072
JO - Journal of the Franklin Institute
JF - Journal of the Franklin Institute
IS - 14
ER -