Open AccessRobust second‐order finite‐time formation control of heterogeneous multi‐agent systems on directed communication graphs
Author(s) -
Mei Feng,
Wang He,
Yao Yiyang,
Fu Junjie,
Yuan Xiang,
Yu Wenwu
Publication year - 2020
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2019.0212
Subject(s) - multi agent system , convergence (economics) , computer science , control theory (sociology) , graph , protocol (science) , directed graph , class (philosophy) , adaptive control , graph theory , control (management) , mathematics , algorithm , theoretical computer science , artificial intelligence , medicine , alternative medicine , pathology , combinatorics , economics , economic growth
This study concentrates on the finite‐time (FT) formation control problem for a class of heterogeneous second‐order (SO) multi‐agent systems (MASs), where disturbance may exist in the dynamics of each agent and the communication graph is directed. First of all, a basic FT formation control protocol is proposed for the nominal SO MAS and the finite convergence time is calculated. To solve the FT formation control for a class of heterogeneous SO MASs without using global information, an adaptive FT formation control is then proposed. Finally, two numerical examples are presented to validate the theoretical results.