TY - GEN
T1 - Distance-based control of formations with hybrid communication topology
T2 - 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016
AU - Feng, Liang
AU - Fuqiang, Wang
AU - Zhao, Xue
AU - Hou, Yun
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/2/28
Y1 - 2017/2/28
N2 - In this paper, we focus on the control of triangular multi-agent formations with hybrid communication topology though distance-based approach. By saying hybrid topology, we mean that the communication topology contains both undirected and directed links, or in other words, the underlying graph of the formation contains both undirected and directed edges. A new type of graph, namely hybrid graph, is introduced. We discuss the persistence of a hybrid graph and present the persistence verification strategy for hybrid graphs. It is proved that all the persistent hybrid graphs can be obtained from persistent directed graphs by the operation of edge transformation. As the main result, it is shown that triangular multi-agent formations modelled by hybrid graphs can be stabilized locally under distance-based controllers.
AB - In this paper, we focus on the control of triangular multi-agent formations with hybrid communication topology though distance-based approach. By saying hybrid topology, we mean that the communication topology contains both undirected and directed links, or in other words, the underlying graph of the formation contains both undirected and directed edges. A new type of graph, namely hybrid graph, is introduced. We discuss the persistence of a hybrid graph and present the persistence verification strategy for hybrid graphs. It is proved that all the persistent hybrid graphs can be obtained from persistent directed graphs by the operation of edge transformation. As the main result, it is shown that triangular multi-agent formations modelled by hybrid graphs can be stabilized locally under distance-based controllers.
KW - Formation stabilization
KW - Hybrid graph
KW - Multi-agent system
UR - http://www.scopus.com/inward/record.url?scp=85016734011&partnerID=8YFLogxK
U2 - 10.1109/IMCEC.2016.7867551
DO - 10.1109/IMCEC.2016.7867551
M3 - Conference contribution
T3 - Proceedings of 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016
SP - 1910
EP - 1915
BT - Proceedings of 2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2016
A2 - Xu, Bing
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 3 October 2016 through 5 October 2016
ER -