Journal of South China University of Technology (Natural Science Edition) ›› 2013, Vol. 41 ›› Issue (1): 8-14.doi: 10.3969/j.issn.1000-565X.2013.01.002

• Electronics, Communication & Automation Technology • Previous Articles     Next Articles

Follower-Multileader Aggregation Control of Second-OrderMulti-Agent Systems

Liu Xue-liang Xu Bu-gong   

  1. School of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, Guangdong, China
  • Received:2011-11-14 Revised:2012-08-12 Online:2013-01-25 Published:2012-12-03
  • Contact: 胥布工(1956-),男,教授,博士生导师,主要从事时滞系统、无线传感器/ 执行器网络、协调控制等研究. E-mail:aubgxu@scut.edu.cn
  • About author:刘学良(1983-),男,博士,主要从事多智能体系统协调控制研究.E-mail:xueliang.l@mail.scut.edu.cn
  • Supported by:

    国家自然科学基金资助项目(61174070); 教育部高等学校博士学科点专项科研基金资助项目(20110172110033);NSFC-广东联合基金重点资助项目(U0735003);华南理工大学中央高校基本科研业务费专项资金资助项目(2012ZM0101)

PDF

894

Abstract:

This paper deals with the follower-multileader set aggregation control of second-order continuous-timemulti-agent systems. In the investigation, it is assumed that the leaders are of the same velocity and cannot receiveinformation from each other, and two new neighbor-based control protocols are proposed to realize the local controlof multi-agent networks respectively without communication constraints and with communication delays. Then, byusing the frequency-domain analysis, the matrix theory and the Nyquist stability criterion, the sufficient conditionsfor the aggregation of all followers in a convex polygon region formed by multiple dynamic leaders are derived underthe two above-mentioned communication conditions. Finally, numerical simulations are carried out to verify theeffectiveness and feasibility of the proposed protocols.

Key words: multi-agent system, aggregation control, control protocol, follower-multileader set, convex polygon region

CLC Number: