Abstract
In this paper, we investigate a decentralized asymptotic cooperative control problem of multi-agent systems with leader-follower configuration. We firstly develop a new method using a proposed “interaction matrix” for the analysis of cooperation convergence of multi-agent systems, i.e. both consensus of the agents states and trajectory tracking of the whole group can be instantaneously concluded only by observing the minimum eigenvalue of the interaction matrix. For a multi-agent system, the external given desired trajectory can be partially obtained (through sensing or detecting) by the leaders, but higher-order derivatives such as acceleration and jerk of the desired trajectory cannot be obtained. In this case, by using some conventional control methods, the trajectory tracking performance is always not satisfactory when a trajectory varies aggressively w.r.t. time. For the sake of asymptotic tracking of an arbitrary given external trajectory of a multi-agent system, we develop a nonlinear cooperative controller based on the robust integral of signum of cooperative error (RISCE) technique, where the interaction matrix is used. The simulation results show asymptotic convergence of cooperation by using the proposed control, and better performance compared to composited nonlinear feedback based PD (CNF-PD) control.
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Zhicheng Hou received his doctoral degree in Robotics and automatic control from Université de Technologie de Compiègne (France) in 2016. He is currently an Associate Research Professor at Guangzhou Institute of Advanced Technology, Chinese Academy of Sciences since 2016. His research interests include nonlinear control, decentralized control, mobile robotics and multi-agent systems.
Jianxin Xu received his B.S degree in Wuhan University of Technology (China) in 2017. He is currently a master student since 2017. His research interests include nonlinear control and multi-agent systems.
Gong Zhang received his doctoral degree in Southwest Jiaotong University (China) in 2008. He is currently an Associate Research Professor at Guangzhou Institute of Advanced Technology, Chinese Academy of Sciences since 2011. His research interests include multi-robot systems and mechanical engineering.
Weijun Wang received his doctoral degree in Hanyang University (Korea) in 2012. He is currently a Research Professor at Guangzhou Institute of Advanced Technology, Chinese Academy of Sciences since 2015. His research interests include mechanical engineering and manufacturing.
Changsoo Han received his doctoral degree in the University of Texas at Austin (United States) in 1989. He is currently a Professor at Hanyang University since 2014. His research interests include industrial robotics, mechanical engineering, and control engineering.
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Hou, Z., Xu, J., Zhang, G. et al. Interaction Matrix Based Analysis and Asymptotic Cooperative Control of Multi-agent Systems. Int. J. Control Autom. Syst. 18, 1103–1115 (2020). https://doi.org/10.1007/s12555-018-0841-z
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DOI: https://doi.org/10.1007/s12555-018-0841-z