Abstract
ABSTRACTThe finite-time formation problem of multiple agents aims to find a control protocol to guarantee finite-time consensus, in which every agent can be in the right position and keep in the given formation configuration efficiently. However, it is hard to achieve a stable state if only by setting one virtual leader in multiple tasks system. This paper presents a formation controller design for a second-order multiple agents to address the finite-time formation problem. In the procedure, each agent has a virtual leader, and then a control law is designed so that the agents can keep pace with their virtual leaders in terms of speed and position. Accordingly, the controller can ensure that the relative positions among different agents and the trajectory of the whole formation can be specified in advance. Moreover, since the closed-loop system is finite-time stable, which implies that the required formation is attainable without a deviation in finite time. Finally, the stability analysis is proved by applying the graph theory, Lyapunov stability theory and homogeneous system theory. The effectiveness of the algorithm is demonstrated by numerical simulations.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
