Multi-agent systemsStability analysisThis paper first defines a multilayer formation control problem, where the agents can receive and transmit information among the layers. A layered distributed finite-time es
首先是引导agent形成所需的几何图案,其次是实现所需的集体机动,使队形的质心、方位、尺度等几何参数可以连续变化。本文提出了一种新的仿射编队机动控制方法来同时实现这两个子任务。该方法依赖于应力矩阵,应力矩阵可以看作是具有正负边权的广义图拉普拉斯矩阵。所提出的控制律可以跟踪任何目标编队,即一个标称构型的时变...
(2016). Formation control for multi-agent systems with connectivity preservation and event-triggered controllers. arXiv:1611.03105. Google Scholar Yu and Antsaklis, 2012 H. Yu, P.J. Antsaklis Formation control of multi-agent systems with connectivity preservation by using both event-driven and time...
Chapter 10Formation Control of Multi-Agent Systemswith Location UncertaintyMarkus Fröhle, Themistoklis Charalambous, Henk Wymeersch, Siwei Zhang,and Armin Dammann10.1 IntroductionIncreasingly sophisticated algorithms implemented on autonomous agents/robotswith massive computational capabilities have enabled solving...
Optimal robust formation control for heterogeneous multi‐agent systems based on reinforcement learning - Yan - 2022 - International Journal of Robust and Nonlinear Control - Wiley Online Library 1.文件概览 : 文件的主要研究领域是什么? 主要研究领域是针对不确定的异构多智能体系统,提出一种基于强化学习(...
formation control and coordination of multi-agent systems can be found in, for example [11, 15–18]. In [15], a feedback linearisation technique is proposed using only local information for controller design to exponentially stabilise the relative distances between the agents in the formation. Si...
Abstract In this paper, a distributed event-triggered formation control algorithm for a multi-agent system which consists of linear discrete-time agents is proposed based on control theory. For agents to achieve a formation, it is necessary to communicate with each other to feedback their informati...
A multi-agent formation control task usually consists of two subtasks. The first is to steer the agents to form a desired geometric pattern and the second is to achieve desired collective maneuvers so that the centroid, orientation, scale, and other geometric parameters of the formation can be...
In the actual environment, multi-agent systems are often affected by random noise, so the systems often cannot accurately obtain the real states of other agents. If the measured data with noise is directly used, the consensus control method will be difficult to guarantee the system stability of...
Robust and cooperative formation control of nonlinear multi-agent systems is a significant research area within the field of robotics and autonomous systems. Yang's PhD work focuses on developing control strategies that ensure the stability and robustnes