A New Approach of Formation Control for Multi-Agent Systems With Environmental Changes

被引：7

作者：

Liu, Yutong ^{[1
]}

Shi, Peng ^{[2
]}

Lim, Cheng-Chew ^{[2
]}

Yu, Hongjun ^{[3
]}

机构：

[1] Xi An Jiao Tong Univ, Sch Cyber Sci & Engn, Xian 710049, Peoples R China

[2] Univ Adelaide, Sch Elect & Elect Engn, Adelaide, SA 5005, Australia

[3] Harbin Engn Univ, Sch Automat, Harbin 150001, Peoples R China

来源：

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS | 2021年 / 68卷 / 08期

基金：

澳大利亚研究理事会;

关键词：

Task analysis; Multi-agent systems; Space vehicles; Shape; Optimal control; Simulation; Energy consumption; reconfiguration strategy; random mapping algorithm; overlapping problem; CONSENSUS; SYNCHRONIZATION; VEHICLES;

D O I：

10.1109/TCSI.2021.3083831

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In this paper, a two-stage reconfiguration strategy is proposed for a group of agents to find their specially designated formation, which can be seen as a transition from the current states to the predefined formations. The specially designated formation occurs during the inter-task idle time in order to minimize the reconfiguration time. The basic specially designated formation is designed for dotted agents based on the optimal mapping relationships and current probabilities of the predefined formations. Then, the reconfiguration schemes are developed with the agents modeled as circles or ellipses to account for their physical shapes, and the problem of agent overlapping during the formation is addressed. Examples and simulation results are presented to analyze and demonstrate the effectiveness and potential of the new design techniques.

引用

页码：3449 / 3459

页数：11

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