JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2017, Vol. 47 ›› Issue (5): 79-88.doi: 10.6040/j.issn.1672-3961.0.2017.255

Previous Articles     Next Articles

A new distributed formation for multi-agent systems with constant time delays

QIN Liguo1, HE Xiao1, ZHOU Donghua1,2*   

  1. 1. Department of Automation, Tsinghua University, Beijing 100084, China;
    2. College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, Shandong, China
  • Received:2017-02-10 Online:2017-10-20 Published:2017-02-10

PDF (PC)

1094

Abstract: A new delay independent distributed formation control law was presented for a network of second-order integrators subject to constant time delays. A new augment variable which represented the integration of distributed formation errors was introduced to improve the robustness of the formation control law. Different from current distributed control laws, the presented control law was robust to some constant bias faults. A condition on the existence of the delay independent formation control law was proposed by using Nyquist stability criterion. The simulation demonstrated the effectiveness of the control law.

Key words: distributed control, frequency-domain analysis, formation, time delays, Nyquist stability criterion, transfer function

CLC Number: 

  • TP277
[1] BEARD R W, LAWTON J, HADAEGH F Y. A coordination architecture for spacecraft formation control[J]. IEEE Transactions on Control Systems Technology, 2001, 9(6): 777-790.
[2] BALCH T, ARKIN R C. Behavior-based formation control for multirobot teams[J]. IEEE Transactions on Robotics and Automation, 1998, 14(6): 926-939.
[3] REN W. Consensus strategies for cooperative control of vehicle formations[J]. IET Control Theory & Applications, 2007, 1(2): 505-512.
[4] LIN Z, FRANCIS B, MAGGIORE M. Necessary and sufficient graphical conditions for formation control of unicycles[J]. IEEE Transactions on Automatic Control, 2005, 50(1): 121-127.
[5] OH K K, AHN H S. Formation control of mobile agents based on distributed position estimation[J]. IEEE Transactions on Automatic Control, 2013, 58(3): 737-742.
[6] 吕淑玲, 侍红军, 刘峰. 主从多智能体网络快速随机一致性[J]. 山东大学学报(理学版), 2014, 49(1): 65-70. LYU Shuling, SHI Hongjun, LIU Feng. Fast stochastic consensus of leader-following multi-agent network[J]. Journal of Shandong University(Nature Science), 2014, 49(1):65-70.
[7] QIN L, HE X, ZHOU D H. A survey of fault diagnosis for swarm systems[J]. Systems Science & Control Engineering, 2014, 2(1): 13-23.
[8] 王强, 王玉振. Hamilton 框架下 Flocking 问题控制协议的设计[J]. 山东大学学报(理学版), 2011, 46(7): 70-76. WANG Qiang, WANG Yuzheng. Flocking control protocol design based on a Hamiltonian framework[J]. Journal of Shandong University(Nature Science), 2011, 46(7):70-76.
[9] QIN L, HE X, ZHOU Y, et al. Fault-tolerant control for a quadrotor unmanned helicopter subject to sensor faults[C] //IEEE Conference on Unmanned Aircraft Systems(ICUAS)2016. [s. n.] : IEEE, 2016: 1280-1286.
[10] 孙一冰, 付敏跃, 王炳昌, 等. 大规模动态系统的分布式状态估计算法[J]. 山东大学学报(工学版), 2016, 46(6): 62-68. SUN Yibing, FU Minyue, WANG Bingchang, et al. Distributed state estimation algorithm for large-scale dynamic systems[J]. Journal of Shandong University(Engineering Science), 2016, 46(6):62-68.
[11] EGERSTEDT M, HU X. Formation constrained multi-agent control[J]. IEEE Transactions on Robotics and Automation, 2001, 17(6): 947-951.
[12] CHEN Y Q, WANG Z. Formation control: a review and a new consideration[C] //IEEE International Conference on Intelligent Robots and Systems 2005:IROS 2005. Edmonton, Canada: IEEE, 2005: 3181-3186.
[13] DAS A K, FIERRO R, KUMAR V, et al. A vision-based formation control framework[J]. IEEE Transactions on Robotics and Automation, 2002, 18(5): 813-825.
[14] DONG X, YU B, SHI Z, et al. Time-varying formation control for unmanned aerial vehicles: theories and applications[J]. IEEE Transactions on Control Systems Technology, 2015, 23(1): 340-348.
[15] OLFATI S R, MURRAY R M. Consensus problems in networks of agents with switching topology and time-delays[J]. IEEE Transactions on Automatic Control, 2004, 49(9): 1520-1533.
[16] SUN Y G, WANG L. Consensus of multi-agent systems in directed networks with nonuniform time-varying delays[J]. IEEE Transactions on Automatic Control, 2009, 54(7): 1607-1613.
[17] XIAO F, WANG L. Consensus protocols for discrete-time multi-agent systems with time-varying delays[J]. Automatica, 2008, 44(10): 2577-2582.
[18] LIN P, JIA Y. Multi-agent consensus with diverse time-delays and jointly-connected topologies[J]. Automatica, 2011, 47(4): 848-856.
[19] ABDESSAMEUD A, TAYEBI A. Formation control of VTOL unmanned aerial vehicles with communication delays[J]. Automatica, 2011, 47(11): 2383-2394.
[20] REZAEE H, ABDOLLAHI F, TALEBI H A. H∞ based motion synchronization in formation flight with delayed communications[J]. IEEE Transactions on Industrial Electronics, 2014, 61(11): 6175-6182.
[21] DONG X, XI J, LU G, et al. Formation control for high-order linear time-invariant multiagent systems with time delays[J]. IEEE Transactions on Control of Network Systems, 2014, 1(3): 232-240.
[22] TIAN Y P, LIU C L. Consensus of multi-agent systems with diverse input and communication delays[J]. IEEE Transactions on Automatic Control, 2008, 53(9): 2122-2128.
[23] TIAN Y P, LIU C L. Robust consensus of multi-agent systems with diverse input delays and asymmetric interconnection perturbations[J]. Automatica, 2009, 45(5): 1347-1353.
[24] MÜNZ U, PAPACHRISTODOULOU A, ALLGOWER F. Delay robustness in consensus problems[J]. Automatica, 2010, 46(8): 1252-1265.
[25] HOU W, FU M, ZHANG H, et al. Consensus conditions for general second-order multi-agent systems with communication delay[J]. Automatica, 2017, 75: 293-298.
[1] QIU Liqin, WANG Lei, YU Yue, SUN Yahui. Incremental attribute reduction of interval-valued decision-making information systems from the perspective of knowledge granularity [J]. Journal of Shandong University(Engineering Science), 2025, 55(6): 45-57.
[2] XIE Yupeng, XIONG Ergang, LI Sifeng, LIU Fengwei, WANG Shang. Plastic hinge length study of prefabricated segmental assembled bridge piers [J]. Journal of Shandong University(Engineering Science), 2025, 55(6): 129-141.
[3] LI Guang, LIU Jian, ZHOU Lizhi, LI Xiaohan, LÜ Gaohang, XIE Quanyi. Experimental study on deformation characteristics of soil-structure interface under seepage conditions [J]. Journal of Shandong University(Engineering Science), 2025, 55(4): 118-126.
[4] ZHANG Guojian, FU Lianlong, ZHANG Qingsong, SANG Wengang, LI Jianqiang, ZHOU Lu, FU Tao, LIU Shengzhen. Dynamic deformation law monitoring of extra-long span bridges based on GB-RAR technology [J]. Journal of Shandong University(Engineering Science), 2025, 55(4): 127-137.
[5] SHI Ying, ZHANG Danyang, WANG Tong, CHEN Yiping, FU Xin. Data transmission scheduling optimization strategy of roadside unit based on location information [J]. Journal of Shandong University(Engineering Science), 2025, 55(3): 25-33.
[6] ZHU Ming, SHI Chenglong, LÜ Pan, LIU Xianrong, SUN Chi, CHEN Jiancheng, FAN Hongyun. Deformation prediction method and engineering application of deep foundation pit based on optimized LSTM method [J]. Journal of Shandong University(Engineering Science), 2025, 55(3): 141-148.
[7] Ying LI,Jiankun WANG. The classification of mild cognitive impairment based on supervised graph regularization and information fusion [J]. Journal of Shandong University(Engineering Science), 2023, 53(4): 65-73.
[8] Weiqin ZHENG,Jie XU,Jie SUN,Ke WU. Mechanical characteristics of TBM tunnel segment in composite stratum [J]. Journal of Shandong University(Engineering Science), 2022, 52(4): 210-213.
[9] ZHU Hengdong, MA Yingcang, DAI Xuezhen. Adaptive semi-supervised neighborhood clustering algorithm [J]. Journal of Shandong University(Engineering Science), 2021, 51(4): 24-34.
[10] LI Ying, L(¨overU)Xuebin, LI Yan, SUN Shoujing. Method for safety management and control of tools and equipment used in substation based on ultra-wideband technology [J]. Journal of Shandong University(Engineering Science), 2021, 51(3): 84-90.
[11] ZHANG Qinyang, LI Xu, YAO Chunlong, LI Changwu. Aspect-level sentiment classification combined with syntactic dependency information [J]. Journal of Shandong University(Engineering Science), 2021, 51(2): 83-89.
[12] SUN Jie, WU Ke, ZHENG Yang, LI Shuchen, YUAN Chao, WANG Xiuwei. Influence of TBM tunnel excavation at different positions on buildings [J]. Journal of Shandong University(Engineering Science), 2021, 51(1): 32-38.
[13] LI Lianxiang, ZHANG Qiang, SHI Jinjiang, LIU Jiadian, HOU Yingxue. Law of horizontal deformation displacement of tunnels due to adjacent excavation [J]. Journal of Shandong University(Engineering Science), 2021, 51(1): 46-52.
[14] LI Lianxiang, WANG Lei, ZHAO Yongxin, JI Xiangkai. True mechanical model of underground pipe corridor supported by piles [J]. Journal of Shandong University(Engineering Science), 2021, 51(1): 60-68.
[15] Feng TIAN, Xin LI, Fang LIU, Chuang LI, Xiaoqiang SUN, Ruishan DU. A semantictag generation method based on multi-model subspace learning [J]. Journal of Shandong University(Engineering Science), 2020, 50(3): 31-37.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] ZHANG Yong-hua,WANG An-ling,LIU Fu-ping . The reflected phase angle of low frequent inhomogeneous[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 22 -25 .
[2] KONG Xiang-zhen,LIU Yan-jun,WANG Yong,ZHAO Xiu-hua . Compensation and simulation for the deadband of the pneumatic proportional valve[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 99 -102 .
[3] LAI Xiang . The global domain of attraction for a kind of MKdV equations[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 87 -92 .
[4] YU Jia yuan1, TIAN Jin ting1, ZHU Qiang zhong2. Computational intelligence and its application in psychology[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 1 -5 .
[5] JI Tao,GAO Xu/sup>,SUN Tong-jing,XUE Yong-duan/sup>,XU Bing-yin/sup> . Characteristic analysis of fault generated traveling waves in 10 Kv automatic blocking and continuous power transmission lines[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 111 -116 .
[6] QIN Tong, SUN Fengrong*, WANG Limei, WANG Qinghao, LI Xincai. 3D surface reconstruction using the shape based interpolation guided by maximal discs[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2010, 40(3): 1 -5 .
[7] SUN Dianzhu, ZHU Changzhi, LI Yanrui. [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 84 -86 .
[8] ZHANG Ai-juan. Synthesis of bone-like hydroxyapatite in simulated body fluid[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2010, 40(3): 86 -90 .
[9] LIU Xin 1, SONG Sili 1, WANG Xinhong 2. [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(2): 98 -100 .
[10] HU Tian-liang,LI Peng,ZHANG Cheng-rui,ZUO Yi . Design of a QEP decode counter based on VHDL[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2008, 38(3): 10 -13 .
Copyright 2018 © Editorial office of Journal of Shandong University (Engineering Science)
Supported by Beijing Magtech Co.Ltd