TY - GEN
T1 - Optimal Affine Formation Control of Linear Multi-agent System
AU - Onuoha, Okechi
AU - Tnunay, Hilton
AU - Li, Zhenhong
AU - Ding, Zhengtao
N1 - Funding Information:
O Onuoha, H Tnunay, Zhenhong Li and Z Ding are with the School of Electrical and Electronic Engineering, the University of Manchester, Manchester, M13 9PL, U.K. {okechi.onuoha,hilton.tnunay,Zhenghong.li, Zhengtao.Ding}@manchester.ac.uk *This work was supported by the Science and Technology Facilities Council under Grant ST/N006852/1 and also by the Petroleum Technology Development Fund (PTDF).
Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - This paper considers the optimal affine formation control of linear multi-agent systems. Existing works are limited to the linear multi-agent system case where the input and system matrices are respectively the identity and zero matrices. In this paper, we relax these requirements and propose a globally optimal scheme with respect to some performance indexes, based on a Linear Quadratic Regulator, for the affine formation control of a linear multi-agent system. Inverse optimality strategy is used to design the control law to minimize some performance index and to stabilize all follower agents to their respective target positions. The result provides a technique to control an entire formation of multi-agent system by controlling only a few agents. A simulation example is provided to illustrate the effectiveness of the control design.
AB - This paper considers the optimal affine formation control of linear multi-agent systems. Existing works are limited to the linear multi-agent system case where the input and system matrices are respectively the identity and zero matrices. In this paper, we relax these requirements and propose a globally optimal scheme with respect to some performance indexes, based on a Linear Quadratic Regulator, for the affine formation control of a linear multi-agent system. Inverse optimality strategy is used to design the control law to minimize some performance index and to stabilize all follower agents to their respective target positions. The result provides a technique to control an entire formation of multi-agent system by controlling only a few agents. A simulation example is provided to illustrate the effectiveness of the control design.
UR - http://www.scopus.com/inward/record.url?scp=85075785719&partnerID=8YFLogxK
U2 - 10.1109/ICCA.2019.8900001
DO - 10.1109/ICCA.2019.8900001
M3 - Conference contribution
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 851
EP - 856
BT - IEEE International Conference on Control and Automation, ICCA
PB - IEEE Computer Society
T2 - 15th IEEE International Conference on Control and Automation, ICCA 2019
Y2 - 16 July 2019 through 19 July 2019
ER -