A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 5 Issue 1
Jan.  2018

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Qiang Wang, Yuzhen Wang and Huaxiang Zhang, "The Formation Control of Multi-agent Systems on a Circle," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 148-154, Jan. 2018. doi: 10.1109/JAS.2016.7510022
Citation: Qiang Wang, Yuzhen Wang and Huaxiang Zhang, "The Formation Control of Multi-agent Systems on a Circle," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 148-154, Jan. 2018. doi: 10.1109/JAS.2016.7510022

The Formation Control of Multi-agent Systems on a Circle

doi: 10.1109/JAS.2016.7510022
Funds:

the National Natural Science Foundation of China G61374065

the National Natural Science Foundation of China 61373081

the National Natural Science Foundation of China 61303007

the National Natural Science Foundation of China 61401260

the National Natural Science Foundation of China 61503225

the National Natural Science Foundation of China 61572298

the Natural Science Foundation of Shandong Province ZR2015FQ003

More Information
  • This paper investigates the formation control of a class of multi-agent systems moving on a circle, whose topology is a cyclic graph, and presents several new results for the following two cases:Case I, the agents with single-integrator kinematics, and Case Ⅱ, the agents with double-integrator kinematics. Firstly, for Case I, two control protocols are proposed under which the multiagent systems keep a uniformly-spaced formation. Secondly, we study Case Ⅱ, and a control protocol is designed for this case, then the stability of the formation is proved. Finally, three simulations are studied by using our presented results. The study of illustrative examples with simulations shows that our results as well as designed control protocols work very well in studying the formation control of this class of multi-agent systems.

     

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