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Finite‐Time Optimal Formation Control for Second‐Order Multiagent Systems
Author(s) -
Liu Yongfang,
Geng Zhiyong
Publication year - 2014
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.603
Subject(s) - optimal control , upper and lower bounds , mathematical optimization , control (management) , multi agent system , order (exchange) , function (biology) , computer science , control theory (sociology) , mathematics , artificial intelligence , mathematical analysis , finance , evolutionary biology , economics , biology
This paper studies the problem of finite‐time optimal formation control for second‐order multiagent systems in situations where the formation time and/or the cost function need to be considered. The finite‐time optimal formation control laws are proposed for the cases with or without a leader, respectively. For the case of control being constrained, the time optimal formation problem is considered and an algorithm is designed to derive a feasible solution for the problem concerned. Although the feasible solution may not be optimal, it can provide a lower bound for time for the formation problem with control constraints. Once the given formation time is lower than this bound, the control constraints cannot be ensured. Finally, some numerical examples are given to illustrate the effectiveness of the theoretical results.