Three-Dimensional Dynamic Formation Control of Multi-Agent Systems Using Rigid Graphs

Zhang, Pengpeng; Queiroz, M.S. de; Cai, Xiaoyu

doi:10.1115/1.4030973

Cited by 27 publications

(14 citation statements)

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“…First, we will characterize null spaces and zero eigenvalues of the Jacobian matrix for the vector function of double-integrator formation systems, which will reveal several system dynamical properties. Second, compared with the analysis and results in [Dimarogonas and Johansson, 2008], [Oh and Ahn, 2014a], [Sun et al, 2014b], [Ramazani et al, 2015;Zhang et al, 2015] and , we go well beyond the local convergence analysis of the correct equilibrium set (i.e., those equilibria corresponding to correct formation shapes). Instead, we aim to provide new characterizations for the convergence properties of any equilibrium set, including those that do not correspond to a desired equilibrium.…”

Section: Background and Related Workmentioning

confidence: 96%

“…For rigid formation control systems modelled by double integrators, the results only appear sparsely in the literature, with some recent investigations in e.g. [Oh and Ahn, 2014a;Zhang et al, 2015;Deghat et al, 2016].…”

Section: Agent Dynamical Model: Beyond Single-integrator Modelsmentioning

confidence: 99%

“…Another active research topic on double-integrator models which received particular interest in recent years is the linear consensus problem [Ren, 2008], [Cao et al, 2013]. However, for rigid formation control systems modelled by double integrators, the results appear rather sparsely in the literature, with some discussions in [Dimarogonas and Johansson, 2008], [Oh and Ahn, 2014a], [Sun et al, 2014b], [Ramazani et al, 2015;Zhang et al, 2015]. A recent paper showed the possibility of combining a linear consensus algorithm and a nonlinear rigid shape controller to achieve a desired rigid flocking movement.…”

Section: Background and Related Workmentioning

confidence: 99%

“…It is worth mentioning that there exist other ways for proving local convergence for double-integrator formation systems (see e.g. [Oh and Ahn, 2014a] by using Łojasiewicz's inequality for a gradient flow, [Jiang et al, 2017] with the usage of the Malkin theorem, and [Dimarogonas and Johansson, 2008], [Sun et al, 2014b], [Zhang et al, 2015] by invoking Barbalat's Lemma and Lyapunov argument), all without however showing how fast the convergence is. Note that the exponential convergence delivered by our arguments is a crucial property for studying robustness issues in rigid formation control systems .…”

Section: Part IIImentioning

confidence: 99%

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Cooperative Coordination and Formation Control for Multi-agent Systems

Sun

2018

Springer Theses

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Section: Background and Related Workmentioning

confidence: 96%

Section: Agent Dynamical Model: Beyond Single-integrator Modelsmentioning

confidence: 99%

Section: Background and Related Workmentioning

confidence: 99%

Section: Part IIImentioning

confidence: 99%

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Cooperative Coordination and Formation Control for Multi-agent Systems

Sun

2018

Springer Theses

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“…To reduce the communication complexity, Ding et al (2010) schematically represented the neighbouring relationship of networked agents as a directed acyclic graph (DAG), wherein the cycles in topology interaction graph were deleted. On the other hand, some scholars studied the rigid and persistent configurations to decrease the communication complexity (Zhang et al, 2015). Yan et al (2015) and Chen et al (2015) studied optimally rigid formation, wherein the least communication number was required.…”

mentioning

confidence: 99%

Formation of heterogeneous multi-agent systems under min-weighted persistent graph

Sun

Zhang

et al. 2017

IJSCIP

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In this paper, we develop a simple and efficient formation control framework for heterogeneous multi-agent systems under min-weighted persistent graph. As the ability of each agent may be different, the architecture of agents is considered to be heterogeneous. To reduce the communication complexity of keeping connectivity for agents, a topology optimisation scheme is proposed, which is based on min-weighted persistent graph. According to the topology of agents, a directed acyclic graph (DAG) is constructed to reflect the signal flow relation of agents, and then the corresponding formation control protocol is designed by using the transfer function model. Apply the proposed method, it is shown that the communication complexity of multi-agent systems is decreased, and the connection safety is improved. Based on signal flow graph analysis and Mason's rule, the convergence conditions are provided to show the agents can keep a formation. Finally, several simulations are worked out to illustrate the effectiveness of our theoretical results. X. (2017) 'Formation of heterogeneous multi-agent systems under min-weighted persistent graph', Int. the University Office of Research Management. His current research interests include cyber-physical systems, multiagent systems, wireless networking and applications in smart city and smart factory, and underwater sensor networks. Y. Sun et al.The main challenge in formation control is to design a decentralised control law by depending on local information interaction. Thus, fundamental questions about what local interaction rules are and how they work, are raised. To interpret these questions, some local interaction schemes were proposed, such as game-based method (Hu et al., 2015;Semsar-Kazerooni and Khorasani, 2009), graph-based method (Aguilar and Gharesifard, 2015;Olfati-Saber, 2006), etc. In these references, 'neighbour rule' was widely applied in the topology communication between agents, wherein each agent was required to communicate with its neighbours in the topology interaction graph to keep the connectivity of multi-agent systems. Analysing the action of 'neighbour rule' in formation control, we find that some interactions between agents can be removed during the formation process. Accordingly, the energy consumption with respect to communication between agents is increased. To reduce the communication complexity, Ding et al. (2010) schematically represented the neighbouring relationship of networked agents as a directed acyclic graph (DAG), wherein the cycles in topology interaction graph were deleted. On the other hand, some scholars studied the rigid and persistent configurations to decrease the communication complexity (Zhang et al., 2015). Yan et al. (2015) and Chen et al. (2015) studied optimally rigid formation, wherein the least communication number was required. Although the number of communication links is the least, these rigid graphs are not unique. If the edges of the graphs are weighted by the required communication energy, how to find the min-weighted graph...

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Sun¹

2018

Cooperative Coordination and Formation Control for Multi-Agent Systems

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Three-Dimensional Dynamic Formation Control of Multi-Agent Systems Using Rigid Graphs

Cited by 27 publications

References 14 publications

Cooperative Coordination and Formation Control for Multi-agent Systems

Cooperative Coordination and Formation Control for Multi-agent Systems

Formation of heterogeneous multi-agent systems under min-weighted persistent graph

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