Abstract：In this paper, the formation control and convergence rate optimization of discrete and continuous time multi-agent systems with a given topology are studied. For the discrete multi-agent formation system, the range of control gain to make the system reach the stable state and the maximum convergence rate are obtained according to the properties of spectral radius. A continuous time multi-agent system formation control method is obtained by applying a set of constant perturbations to the continuous time multi-agent system. Finally, for the two systems mentioned above, an algorithm is given to increase the convergence rate by applying unilateral disturbance to the system.
刘振亚, 纪志坚. 两类拓扑下多智能体系统的编队控制与收敛速率优化[J]. 复杂系统与复杂性科学, 2026, 23(2): 75-85.
LIU Zhenya, JI Zhijian. Formation Control and Convergence Rate Optimization of Multi-agent Systems Under Two Types of Topologies[J]. Complex Systems and Complexity Science, 2026, 23(2): 75-85.
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