Multi-group hybrid impulsive flocking control of heterogenous multi-agent systems |
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| Institution: | 1. School of Science, Xi’an University of Architecture and Technology, Xi’an 710055, PR China;2. School of Mathematics and Statistics, Xi’an Jiaotong University, Xi’an 710049, PR China;1. School of Electrical Engineering, Guangxi University, Nanning 530004, China;2. Key Laboratory of Disaster Prevention and Structural Safety of Ministry of Education, Guangxi University, China;3. School of Mathematics and Information Science, Guangxi University, Nanning 530004, China;4. Guangxi Key Laboratory of Disaster Prevention and Engineering Safety, Guangxi University, China;1. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China;2. Key Laboratory of Knowledge Automation for Industrial Processes, Ministry of Education, Beijing 100083, China;1. College of Automation and College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China;2. Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment, Ministry of Education, Anhui Polytechnic University, Wuhu, 241000, China;3. School of Marine Engineering, Jimei University, China;4. NARI Group Corporation (State Grid Electric Power Research Institute), Nanjing 211000, China;1. College of Information Science and Technology, Bohai University, Jinzhou, Liaoning 121013, China;2. College of Mathematical Sciences, Bohai University, Jinzhou, Liaoning 121013, China;3. College of Control Science and Engineering, Bohai University, Jinzhou, Liaoning 121013, China |
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| Abstract: | This paper studies the flocking control problem of heterogenous multi-agent systems with multi-group tracking various virtual leaders. In particular, hybrid impulsive control protocol is designed based on the partially discrete agents’ information transmission, where full information exchange only occurs at each impulsive time instant. Meanwhile, braking and gyroscopic forces are implemented for the collision avoidance purpose. Conditions for multi-group formation are established in terms of coupling strength and the length of impulse period. The designed control protocols guarantee that the multi-agent systems are able to achieve asymptotic stability as well as collision-free motions. Numerical examples and computer simulations are provided to validate the theoretical results. |
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