On time-varying formation feasibility and reference function of time-delayed linear multiagent systems with switching digraphs
Corresponding Author
Xiwang Dong
School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China
Xiwang Dong, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China; or Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing 100191, China.
Email: [email protected]
Search for more papers by this authorYongzhao Hua
School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
Search for more papers by this authorGuoqiang Hu
School of Electrical and Electronics Engineering, Nanyang Technological University, Singapore
Search for more papers by this authorQingdong Li
School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
Search for more papers by this authorZhang Ren
School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China
Search for more papers by this authorCorresponding Author
Xiwang Dong
School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China
Xiwang Dong, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China; or Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing 100191, China.
Email: [email protected]
Search for more papers by this authorYongzhao Hua
School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
Search for more papers by this authorGuoqiang Hu
School of Electrical and Electronics Engineering, Nanyang Technological University, Singapore
Search for more papers by this authorQingdong Li
School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
Search for more papers by this authorZhang Ren
School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China
Search for more papers by this authorSummary
Time-varying formation feasibility and formation reference function of linear multiagent systems with both time-varying delays and switching directed topologies are studied. For a given linear multiagent system, not all the time-varying formations can be realized due to the dynamic restriction of each agent. The formation feasibility constraint reveals the requirement on the desired time-varying formation to be compatible with the agent dynamics. Formation reference is a representation for the macroscopic movement of the whole multiagent system. Novel features of the formation feasibility constraint and the formation reference are the main focus of this paper. Firstly, a time-delayed formation control protocol with switching directed topologies is constructed using local neighboring information. Then, a time-varying formation feasibility constraint is derived based on nonsingular transformations. It is proven that the time-varying formation feasibility constraint is independent of the time-varying delays and the switching directed topologies. Moreover, an explicit expression of the formation reference function is proposed. It is shown that neither the time-varying delays nor the switching directed topologies has influence on the obtained formation reference function. Finally, comparative examples are provided to demonstrate the obtained results.
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