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Get Free AccessIn this article, the specified-time affine formation maneuver control (AFMC) problem is studied with a leader-follower structure over a directed communication network. Firstly, by means of Pontraygin's maximum principle and motion-planning techniques, a specified-time AFMC algorithm is designed for the second-integrator systems with dynamic leaders which can lead the followers to achieve the desired affine formation at a specified settling time according to mission requirements and environmental constraints. Furthermore, the specified-time AFMC problem without velocity measurement is studied. The global convergence and stability of the closed-loop system with proposed control algorithms are analyzed. Compared with the existing finite-time AFMC algorithms, a prominent advantage of the proposed specified-time algorithms is that the convergence moment of AFMC can be accurately scheduled and appointed in advance. Finally, an example is simulated to verify the effectiveness of the proposed algorithms.
Yu Zhao, Kai Gao, Panfeng Huang, Guanrong Chen (2023). Specified-Time Affine Formation Maneuver Control of Multiagent Systems Over Directed Networks. IEEE Transactions on Automatic Control, 69(3), pp. 1936-1943, DOI: 10.1109/tac.2023.3309325.
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Type
Article
Year
2023
Authors
4
Datasets
0
Total Files
0
Language
English
Journal
IEEE Transactions on Automatic Control
DOI
10.1109/tac.2023.3309325
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