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Quantized Formation Control of Heterogeneous Nonlinear Multi-Agent Systems with Switching Topology

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Abstract

This paper studies the formation control problem for the second-order heterogeneous nonlinear multi-agent systems (MASs) with switching topology and quantized control inputs. Compared with formation control under the fixed topology, under the switching topology inherent nonlinear dynamics of the agent and the connectivity change of the communication topology are considered. Moreover, to avoid the chattering phenomenon caused by unknown input disturbances, the hysteretic quantizers are incorporated to quantize the input signals. By using the Lyapunov stability theory and leader-follower formation approach, the proposed formation control scheme ensures that all signals of the MASs are semi-globally uniformly ultimately bounded (SGUUB). Finally, the efficiency of the theoretical results is proved by a simulation example.

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Author information

Authors and Affiliations

  1. Navigation College, Dalian Maritime University, Dalian, 116026, China

    Ying Liu

  2. Neusoft Reachauto Corporation, Shenyang, 110179, China

    Jun Hu

  3. College of Science, Liaoning University of Technology, Jinzhou, 121001, China

    Yongming Li

Authors
  1. Ying Liu
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  2. Jun Hu
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  3. Yongming Li
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Corresponding author

Correspondence to Yongming Li.

Ethics declarations

Li Yongming is a youth editorial board member for Journal of Systems Science & Complexity and was not involved in the editorial review or the decision to publish this article. All authors declare that there are no competing interests.

Additional information

This work was supported by the National Natural Science Foundation of China under Grant Nos. U22A2043 and 61822307.

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Liu, Y., Hu, J. & Li, Y. Quantized Formation Control of Heterogeneous Nonlinear Multi-Agent Systems with Switching Topology. J Syst Sci Complex 36, 2382–2397 (2023). https://doi.org/10.1007/s11424-023-2387-2

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  • DOI: https://doi.org/10.1007/s11424-023-2387-2

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