The Formation Control of Multi-agent Systems on a Circle

Qiang Wang; Yuzhen Wang; Huaxiang Zhang

doi:10.1109/JAS.2016.7510022

Volume 5 Issue 1

Jan. 2018

IEEE/CAA Journal of Automatica Sinica

JCR Impact Factor: 15.3, Top 1 (SCI Q1)

CiteScore: 23.5, Top 2% (Q1)
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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2018 > 5(1): 148-154

Qiang Wang, Yuzhen Wang and Huaxiang Zhang, "The Formation Control of Multi-agent Systems on a Circle," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 148-154, Jan. 2018. doi: 10.1109/JAS.2016.7510022

Citation:

Qiang Wang, Yuzhen Wang and Huaxiang Zhang, "The Formation Control of Multi-agent Systems on a Circle," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 148-154, Jan. 2018. doi: 10.1109/JAS.2016.7510022

Qiang Wang, Yuzhen Wang and Huaxiang Zhang, "The Formation Control of Multi-agent Systems on a Circle," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 148-154, Jan. 2018. doi: 10.1109/JAS.2016.7510022

Citation:

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The Formation Control of Multi-agent Systems on a Circle

doi: 10.1109/JAS.2016.7510022

1.
School of Information Science and Engineering, Shandong Normal University, Jinan 250014, China
2.
School of Control Science and Engineering, Shandong University, Jinan 250061, China

Funds:

the National Natural Science Foundation of China G61374065

the National Natural Science Foundation of China 61373081

the National Natural Science Foundation of China 61303007

the National Natural Science Foundation of China 61401260

the National Natural Science Foundation of China 61503225

the National Natural Science Foundation of China 61572298

the Natural Science Foundation of Shandong Province ZR2015FQ003

More Information

Author Bio:
Qiang Wang received the B.S. degree in Applied Mathematics from Shandong University, China, in 2007. He received the Ph.D. degree in Control Theory and Control Engineering from Shandong University in 2012. From July 2012 to May 2014, he was an engineer in Huawei Technologies Co., Ltd. Since May 2014 he has been a lecturer of School of Information Science and Engineering (ISE), Shandong Normal University. His current research interests include machine learning, data mining and multi-agent systems.(e-mail: wangqiang5169@163.com)

Yuzhen Wang graduated from Tai'an Teachers College in 1986, received his M.S. degree from Shandong University of Science and Technology in 1995 and his Ph.D. degree from the Institute of Systems Science, Chinese Academy of Sciences in 2001. Since 2003, he has been a professor with the School of Control Science and Engineering, Shandong University, China, and now the Dean of the School of Control Science and Engineering, Shandong University. From 2001 to 2003, he worked as a Postdoctoral Fellow in Tsinghua University, Beijing, China. From Mar. 2004 to Jun. 2004, from Feb. 2006 to May 2006 and from Nov. 2008 to Jan. 2009, he visited City University of Hong Kong as a Research Fellow. From Sept. 2004 to May 2005, he worked as a visiting Research Fellow at the National University of Singapore. His research interests include nonlinear control systems, Hamiltonian systems and Boolean networks. Prof. Wang received the Prize of Guan Zhaozhi in 2002, the Prize of Huawei from the Chinese Academy of Sciences in 2001, the Prize of Natural Science from Chinese Education Ministry in 2005, and the National Prize of Natural Science of China in 2008. Currently, he is an associate editor of IMA Journal of Math Control and Inform and a Technical Committee member of IFAC (TC2.3).(e-mail: yzwang@sdu.edu.cn)

Huaxiang Zhang is currently a professor with the School of Information Science and Engineering, Shandong Normal University, China. He received his Ph.D. from Shanghai Jiaotong University in 2004, and worked as an associate professor with the Department of Computer Science, Shandong Normal University from 2004 to 2005. He has authored over 100 journal and conference papers and has been granted 8 invention patents. His current research interests include machine learning, pattern recognition, evolutionary computation, and multi-agent systems.(e-mail: huaxzhang@hotmail.com)
Corresponding author: Qiang Wang, e-mail:wangqiang5169@163.com
Received Date: 2015-06-16
Accepted Date: 2015-11-06

Abstract

Abstract

This paper investigates the formation control of a class of multi-agent systems moving on a circle, whose topology is a cyclic graph, and presents several new results for the following two cases:Case I, the agents with single-integrator kinematics, and Case Ⅱ, the agents with double-integrator kinematics. Firstly, for Case I, two control protocols are proposed under which the multiagent systems keep a uniformly-spaced formation. Secondly, we study Case Ⅱ, and a control protocol is designed for this case, then the stability of the formation is proved. Finally, three simulations are studied by using our presented results. The study of illustrative examples with simulations shows that our results as well as designed control protocols work very well in studying the formation control of this class of multi-agent systems.
- Circle,
- cyclic graph,
- formation control,
- multiagent systems,
- uniformly spaced

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References(27)

References

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The Formation Control of Multi-agent Systems on a Circle

doi: 10.1109/JAS.2016.7510022

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