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| Formation Control and Convergence Rate Optimization of Multi-agent Systems Under Two Types of Topologies |
| LIU Zhenyaa, JI Zhijiana,b
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| a. School of Automation; b. Shandong Key Laboratory of Industrial Control Technology, Qingdao University, Qingdao 266071, China |
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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.
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Received: 16 November 2023
Published: 19 May 2026
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