This paper concerns minimum-energy leader-following formation design and analysis problems of distributed multiagent systems(DMASs)subjected to randomly switching topologies and aperiodic communication pauses.The crit...This paper concerns minimum-energy leader-following formation design and analysis problems of distributed multiagent systems(DMASs)subjected to randomly switching topologies and aperiodic communication pauses.The critical feature of this paper is that the energy consumption during the formation control process is restricted by the minimum-energy constraint in the sense of the linear matrix inequality.Firstly,the leader-following formation control protocol is proposed based on the relative state information of neighboring agents,where the total energy consumption is considered.Then,minimum-energy leader-following formation design and analysis criteria are presented in the form of the linear matrix inequality,which can be checked by the generalized eigenvalue method.Especially,the value of the minimum-energy constraint is determined.An illustrative simulation is provided to show the effectiveness of the main results.展开更多
基金the National Natural Science Foundation of China(62176263,62103434,62003363)the Science Foundation for Distinguished Youth of Shaanxi Province(2021JC-35)+2 种基金the Youth Talent Promotion Program of Shaanxi Provincial Association for Science and Technology(20220123)the Natural Science Basic Research Program of Shaanxi Province(2022KJXX-99)the National Defense Basic Research Program of Technology and Industry for National Defense(JCKY2021912B001).
文摘This paper concerns minimum-energy leader-following formation design and analysis problems of distributed multiagent systems(DMASs)subjected to randomly switching topologies and aperiodic communication pauses.The critical feature of this paper is that the energy consumption during the formation control process is restricted by the minimum-energy constraint in the sense of the linear matrix inequality.Firstly,the leader-following formation control protocol is proposed based on the relative state information of neighboring agents,where the total energy consumption is considered.Then,minimum-energy leader-following formation design and analysis criteria are presented in the form of the linear matrix inequality,which can be checked by the generalized eigenvalue method.Especially,the value of the minimum-energy constraint is determined.An illustrative simulation is provided to show the effectiveness of the main results.
