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Type: Journal article
Title: Formation control of singular multiagent systems with switching topologies
Author: Liu, X.
Xie, Y.
Li, F.
Shi, P.
Gui, W.
Li, W.
Citation: International Journal of Robust and Nonlinear Control, 2020; 30(2):652-664
Publisher: Wiley Online Library
Issue Date: 2020
ISSN: 1049-8923
Statement of
Xiaofan Liu, Yongfang Xie, Fanbiao Li, Peng Shi, Weihua Gui, Wenbo Li
Abstract: This paper is concerned with the time-varying formation control problem for singular multiagent systems with switching topologies. First, in order to eliminate the pulse solution of singular systems and extend the formation function set, the distributed formation controller has been formulated based on the output information of the agents. Then, the explicit expression of formation position function is presented based on the impulse free and the equivalent transformation of singular multiagent systems. Next, the sufficient and necessary conditions of the feasibility of the formation function are provided. Moreover, the sufficient conditions of formation control of singular multiagent systems with switching topologies are presented and the algorithm is designed to solve the distributed controller. Finally, the validity of the proposed approaches is verified by numerical simulation in this paper.
Keywords: Distributed formation controller; singular multiagent systems; switching topologies; time-varying formation
Rights: © 2019 John Wiley & Sons, Ltd.
DOI: 10.1002/rnc.4789
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Mathematical Sciences publications

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