文献类型：会议论文

英文题名：Guaranteed Cost Formation Control for Linear Multi-agent Systems with Switching Topologies

作者：Zhang, Yaxiao[1,2];Huang, Ning[3];Tong, Shiwen[1,2];Zheng, Bopei[1,2]

第一作者：张亚霄

通讯作者：Zhang, YX[1];Zhang, YX[2]

机构：[1]Beijing Union Univ, Beijing Key Lab Informat Serv Engn, Beijing 100101, Peoples R China;[2]Beijing Union Univ, Coll Robot, Beijing 100027, Peoples R China;[3]Beijing Spacecrafts Ltd, Beijing 100094, Peoples R China

第一机构：北京联合大学北京市信息服务工程重点实验室

通讯机构：[1]corresponding author), Beijing Union Univ, Beijing Key Lab Informat Serv Engn, Beijing 100101, Peoples R China;[2]corresponding author), Beijing Union Univ, Coll Robot, Beijing 100027, Peoples R China.|[1141739]北京联合大学机器人学院;[11417]北京联合大学;[11417103]北京联合大学北京市信息服务工程重点实验室;

会议论文集：14th International Conference on Intelligent Robotics and Applications (ICIRA)

会议日期：OCT 22-25, 2021

会议地点：Yantai, PEOPLES R CHINA

语种：英文

外文关键词：Guaranteed-cost formation; Multi-agent systems; Switching topologies; Average dwell-time

摘要：Guaranteed-cost formation problem for linear multi-agent systems with switching topologies is investigated. The guaranteed cost formation problem is transformed into a guaranteed cost control problem of an reduced-order switched systems equivalently by a linear transformation. Then, a necessary and sufficient condition for guaranteed cost formation is proposed. Moreover, based on an average dwell time scheme, a sufficient condition for the guaranteed cost formation of linear multi-agent system with switching topologies are presented in terms of linear matrix inequality techniques, and an upper bound of the guaranteed cost function is given. Finally, a numerical example is given to demonstrate the effectiveness of the theoretical results.