[1]WANG Zhonglin,LIU Zhongxin,CHEN Zengqiang,et al.A kind of new type controller for multi-agent leader-follower formation[J].CAAI Transactions on Intelligent Systems,2014,9(3):298-306.[doi:10.3969/j.issn.1673-4785.]
Copy

A kind of new type controller for multi-agent leader-follower formation

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 9 Number of periods: 2014 3 Page number: 298-306 Column: 学术论文—智能系统 Public date: 2014-06-25
Title:
A kind of new type controller for multi-agent leader-follower formation
Author(s):
WANG Zhonglin1; 2;  LIU Zhongxin1; 2;  CHEN Zengqiang1; 2;  SUN Qinglin1; 2;  WU Yin1; 2;  MA Zhengguang1; 2
1. College of Computer and Control Engineering, Nankai University, Tianjin 300071, China;
2. Key Laboratory of Intelligent Robotics of Tianjin, Tianjin 300071, China
Keywords:
multi-agent system (MAS); consensus; formation control; leader-follower; robots; coordinate rotating formula
CLC:
TP18
DOI:
10.3969/j.issn.1673-4785.
Abstract:
In this paper, the algorithm of formation control concerning the Leader-Follower Multi-Agent System(MAS) based on the discrete-time model is researched. By introducing the neighbor-based local control law and the neighbor-based state estimation rules, a kind of new type controller for multi-agent leader-follower formation is designed. Arbitrary shape formations can be easily achieved by simply setting the follower and leader relative coordinates. At the same time, the coordinate rotating formula is introduced to realize the entire formation rotating accordingly with changes of the direction of the movement of the leader. This paper gives two sufficient conditions for the system’s stable formation of fixed topology and switching topology, respectively. The correctness and the practical feasibility of this algorithm were verified through the MATLAB simulation and experiments were conducted using the Amigobot robot platform, respectively.
References:
[1] VICSEK T, CZIRóK A, BEN-JACOB E, et al. Novel type of phase transition in a system of self-driven particles[J]. Physical Review Letters, 1995, 75(6):1226-1229.
[2] JADBABAIE A, LIN J, MORSE A S. Coordination of groups of mobile autonomous agents using nearest neighbor rules[J]. IEEE Transactions on Automatic Control, 2003, 48(6):988-1001.
[3] 刘佳, 陈增强, 刘忠信. 多智能体系统及其协同控制研究进展[J]. 智能系统学报, 2010, 5(1):1-9.LIU Jia, CHEN Zengqiang, LIU Zhongxin. Advances in multi-Agent systems and cooperative control[J]. CAAI Transactions on Intelligent Systems, 2010, 5(1):1-9.
[4] PENG Z, WEN G, RAHMANI A, et al. Leader-follower formation control of nonholonomic mobile robots based on a bioinspired neurodynamic based approach[J]. Robotics and Autonomous Systems, 2013, 61(9):988-996.
[5] 杨甜甜, 刘志远, 陈虹, 等. 移动机器人编队控制的现状与问题[J]. 智能系统学报, 2007, 2(4):21-25.YANG Tiantian, LIU Zhiyuan, CHEN Hong, et al. Formation control of mobile robots:state and open problems[J]. CAAI Transactions on Intelligent Systems, 2007, 2(4):21-25.
[6] PENG Z, WEN G, RAHMANI A. Leader-follower formation control of multiple nonholonomic robots based on backstepping[C]//Proceedings of the 28th Annual ACM Symposium on Applied Computing. Coimbra, Portugal, 2013:211-216.
[7] 苏治宝, 陆际联. 多移动机器人队形控制的研究方法[J]. 机器人, 2003, 25(1):88-91.SU Zhibao, LU Jilian. Research approach to formation control of multiple mobile robots[J]. Robot, 2003, 25(1):88-91.
[8] CHOI I S, CHOI J S, CHUNG W J. Leader-follower formation control without information of heading angle[C]//IEEE/SICE International Symposium on System Integration (SⅡ). Fukuoka, Japan, 2012:842-846.
[9] CHEN X, SERRANI A, OZBAY H. Control of leader-follower formations of terrestrial UAVs[C]//Proceedings of 42nd IEEE Conference on Decision and Control. Maui, USA, 2003, 1:498-503.
[10] LIU Z X, CHEN Z Q. Discarded consensus of network of agents with state constraint[J]. IEEE Transactions on Automatic Control, 2012, 57(11):2869-2874.
[11] HONG Y G, HU J P, GAO L X. Tracking control for multi-agent consensus with an active leader and variable topology[J]. Automatica, 2006, 42(7):1177-1182.
[12] CHEN Z Q, XIANG L Y, LIU Z X, et al. A tracking control scheme for leader based multi-agent consensus for discrete-time case[C]//27th Chinese Control Conference. Kunming, China, 2008:494-498.
[13] WANG F, GAO L, WANG L. Tracking control for multi-agent consensus for discrete-time case[C]//Control and Decision Conference(CCDC). Mianyang, China, 2011:923-928.
[14] 张伟, 张安堂, 肖宇. 基于坐标旋转数字计算方法的三维坐标变换[J]. 探测与控制学报, 2011, 33(2):73-76.ZHANG Wei, ZHANG Antang, XIAO Yu. Cordic based three-dimensional coordinate transform[J]. Journal of Detection & Control, 2011, 33(2):73-76.
[15] GODSIL C D, ROYLE G, GODSIL C D. Algebraic graph theory[M]. New York:Springer, 2001:1-420.
[16] MERRIS R. Laplacian matrices of graphs:a survey[J]. Linear algebra and its applications, 1994, 197:143-176.
[17] HORN R A, JOHNSON C R. Matrix analysis[M]. Cambridge:Cambridge University Press, 2012:1-541.
Similar References:

Memo

-

Last Update: 1900-01-01

Copyright © CAAI Transactions on Intelligent Systems