Robust H∞ formation control for multi-agent systems with nonlinear dynamics and time-varying delay

被引：0
|
作者：
Li Weixun [1 ]
Chen Zengqiang [1 ,2 ]
Liu Zhongxin [1 ]
Zhang Qing [2 ]
机构：
[1] Nankai Univ, Coll Comp & Control Engn, Tianjin Key Lab Intelligent Robot, Tianjin 300071, Peoples R China
[2] Civil Aviat Univ China, Coll Sci, Tianjin 300300, Peoples R China
来源：
2014 33RD CHINESE CONTROL CONFERENCE (CCC) | 2014年
关键词：
Multi-agent systems; nonlinear dynamics; robust formation control; time-varying delay; AGENTS; COORDINATION; FLOCKING;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the distributed robust H-infinity formation control problem for second-order multi-agent systems with time-varying delay and nonlinear dynamics is considered. Two different cases of coupling topologies: fixed topology and switching topology are analyzed. Considering the multi-agent systems with disturbances and uncertainty parameters, the formation control protocols are designed and analyzed. Some sufficient conditions are given to ensure the multi-agent systems can reach and maintain the desired formation with the given H-infinity performance. The simulation results illustrate the effectiveness of the main results.
引用
收藏
页码：1144 / 1149
页数：6
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