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| Group Formation Tracking Control of Nonlinear Coupled Multi-agent Systems |
| DU Xiangyang1, LI Weixun1, CHEN Zengqiang2, ZHANG Limin3
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1. School of Science, Tianjin University of Technology and Education, Tianjin 300222, China;
2. College of Artificial Intelligence, Nankai University, Tianjin 300350, China;
3. School of Electronic and Information Engineering, Zhongyuan University of Technology, Zhengzhou 451191, China |
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Abstract This paper studies the group formation control problem of nonlinear and two-integrator coupling leading the following multi-agent systems. In dealing with the grouping of multi-agent systems, a new control protocol is designed, which does not based on the conventional conservative assumption that the sum of adjacent weights of all nodes from each node in one group to all nodes in the other group is zero or another constant. Then, based on Lyapunov stability theory and algebraic graph theory, sufficient conditions for formation control problems of nonlinear and double integrator second-order multi-agent systems are given respectively. So that the agents in the multi-agent system can reach and maintain the designed formation over time. Finally, two numerical simulations are presented to verify the effectiveness of the results.
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Received: 30 September 2021
Published: 09 January 2023
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