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This paper investigates the formation problem for high-order continuous-time multi-agent systems with time-varying delay under switching communication topologies. The communication topology of multi-agent systems switches within a finite set of digraphs which depicts the communication structure between agents. One case of topology set is considered: there does not exist a directed spanning tree for each of the topologies but there exists a directed spanning tree for the union of all the topologies. By a linear transformation, the formation problem is transformed into stability analysis of a switched delay systems. With the help of a stabilizing switching law, sufficient conditions for multi-agent systems to achieve a given formation under switching topologies are presented in terms of linear matrix inequalities (LMIs). A formation example of intelligent vehicle system is shown to illustrate the effectiveness of the switching strategies.
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PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016
ISSN: 2161-2927
Year: 2016
Page: 8002-8007
Language: English
Cited Count:
WoS CC Cited Count: 3
SCOPUS Cited Count:
ESI Highly Cited Papers on the List: 0 Unfold All
WanFang Cited Count:
Chinese Cited Count:
30 Days PV: 2