Abstract
Guaranteed-cost formation problem for linear multi-agent systems with switching topologies is investigated. The guaranteed cost formation problem is transformed into a guaranteed cost control problem of an reduced-order switched systems equivalently by a linear transformation. Then, a necessary and sufficient condition for guaranteed cost formation is proposed. Moreover, based on an average dwell time scheme, a sufficient condition for the guaranteed cost formation of linear multi-agent system with switching topologies are presented in terms of linear matrix inequality techniques, and an upper bound of the guaranteed cost function is given. Finally, a numerical example is given to demonstrate the effectiveness of the theoretical results.
This work is supported by Beijing Municipal Science and Technology Project (KM202011417004), Special Research Projects of Beijing Union University (ZK30202002), Beijing Nova Program (Z201100006820101), Science and Technology Program of Beijing Municipal Education Commission (KM201811417001), 2021 “Star” College Students Science and Technology Innovation and Entrepreneurship Project (20211010,20212038).
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Zhang, Y., Huang, N., Tong, S., Zheng, B. (2021). Guaranteed Cost Formation Control for Linear Multi-agent Systems with Switching Topologies. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13013. Springer, Cham. https://doi.org/10.1007/978-3-030-89095-7_46
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