![](/images/graphics-bg.png)
Finite-Time Formation Control without Collisions for Multiagent Systems with Communication Graphs Composed of Cyclic Paths
Joint Authors
Flores-Resendiz, J. F.
Aranda-Bricaire, E.
González-Sierra, J.
Santiaguillo-Salinas, J.
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-05-18
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Abstract EN
This paper addresses the formation control problem without collisions for multiagent systems.
A general solution is proposed for the case of any number of agents moving on a plane subject to communication graph composed of cyclic paths.
The control law is designed attending separately the convergence to the desired formation and the noncollision problems.
First, a normalized version of the directed cyclic pursuit algorithm is proposed.
After this, the algorithm is generalized to a more general class of topologies, including all the balanced formation graphs.
Once the finite-time convergence problem is solved we focus on the noncollision complementary requirement adding a repulsive vector field to the previous control law.
The repulsive vector fields display an unstable focus structure suitably scaled and centered at the position of the rest of agents in a certain radius.
The proposed control law ensures that the agents reach the desired geometric pattern in finite time and that they stay at a distance greater than or equal to some prescribed lower bound for all times.
Moreover, the closed-loop system does not exhibit undesired equilibria.
Numerical simulations and real-time experiments illustrate the good performance of the proposed solution.
American Psychological Association (APA)
Flores-Resendiz, J. F.& Aranda-Bricaire, E.& González-Sierra, J.& Santiaguillo-Salinas, J.. 2015. Finite-Time Formation Control without Collisions for Multiagent Systems with Communication Graphs Composed of Cyclic Paths. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-17.
https://search.emarefa.net/detail/BIM-1075153
Modern Language Association (MLA)
Flores-Resendiz, J. F.…[et al.]. Finite-Time Formation Control without Collisions for Multiagent Systems with Communication Graphs Composed of Cyclic Paths. Mathematical Problems in Engineering No. 2015 (2015), pp.1-17.
https://search.emarefa.net/detail/BIM-1075153
American Medical Association (AMA)
Flores-Resendiz, J. F.& Aranda-Bricaire, E.& González-Sierra, J.& Santiaguillo-Salinas, J.. Finite-Time Formation Control without Collisions for Multiagent Systems with Communication Graphs Composed of Cyclic Paths. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-17.
https://search.emarefa.net/detail/BIM-1075153
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1075153