Minimum-energy leader-following formation of distributed multi-agent systems with communication constraints

doi:10.23919/JSEE.2023.000141

Journal of Systems Engineering and Electronics ›› 2023, Vol. 34 ›› Issue (6): 1419-1431.doi: 10.23919/JSEE.2023.000141

• AUTONOMOUS DECISION AND COOPERATIVE CONTROL OF UAV SWARMS • Previous Articles Next Articles

Minimum-energy leader-following formation of distributed multi-agent systems with communication constraints

Donghao QIN(), Le WANG(), Jiuan GAO(), Jianxiang XI()

¹ Rocket Force University of Engineering, Xi’an 710025, China

Received:2022-09-10 Online:2023-12-18 Published:2023-12-29
Contact: Jianxiang XI E-mail:42606553@qq.com;wangaz14@163.com;gaojiuan6@126.com;xijx07@mails.tsinghua.edu.cn
About author:
QIN Donghao was born in 1978. He received his B.S. degree from Taiyuan University of Science and Technology, Taiyuan, China, and M.S. degree from Northwestern Polytechnical University, Xi’an, China, in 2000 and 2010, respectively. He is currently pursuing his Ph.D. degree in control science and engineering from Rocket Force University of Engineering, Xi ’an, China. His research interests include multi-agent systems, optimal control, and formation control. E-mail: 42606553@qq.com

WANG Le was born in 1991. He received his B.S., M.S. and Ph.D. degrees from Rocket Force University of Engineering, Xi’an, China in 2014, 2016, and 2020, respectively. He is currently a lecturer in control science and engineering of Rocket Force University of Engineering, China. His research interests include optimal control, fault tolerant control, and multiagent systems. E-mail: wangaz14@163.com

GAO Jiuan was born in 1990. He received his B. S. and M. S. degrees in Northwestern Polytechnical University, Xi ’an, China in 2011 and 2014, respectively. He is now a lecturer in control science and engineering of Rocket Force University of Engineering. His research interests include swarm systems, and control and navigation for flight vehicle. E-mail: gaojiuan6@126.com

XI Jianxiang was born in 1981. He received his B.S. and M.S. degrees from Rocket Force University of Engineering, Xi ’an, China in 2004 and 2007, respectively. He received his Ph.D. degree in control science and engineering from Rocket Force University of Engineering, Xi’an, China in 2012 by a coalition form with Tsinghua University. He is currently a professor in control science and engineering of Rocket Force University of Engineering, China. His research interests include complex systems control, switched systems and swarm systems. E-mail: xijx07@mails.tsinghua.edu.cn
Supported by:
This work was supported by the National Natural Science Foundation of China (62176263;62103434;62003363), the Science Foundation for Distinguished Youth of Shaanxi Province (2021JC-35), the Youth Talent Promotion Program of Shaanxi Provincial Association for Science and Technology (20220123), the Natural Science Basic Research Program of Shaanxi Province (2022KJXX-99), and the National Defense Basic Research Program of Technology and Industry for National Defense (JCKY2021912B001).

Abstract

Abstract:

This paper concerns minimum-energy leader-following formation design and analysis problems of distributed multi-agent systems (DMASs) subjected to randomly switching topologies and aperiodic communication pauses. The critical feature of this paper is that the energy consumption during the formation control process is restricted by the minimum-energy constraint in the sense of the linear matrix inequality. Firstly, the leader-following formation control protocol is proposed based on the relative state information of neighboring agents, where the total energy consumption is considered. Then, minimum-energy leader-following formation design and analysis criteria are presented in the form of the linear matrix inequality, which can be checked by the generalized eigenvalue method. Especially, the value of the minimum-energy constraint is determined. An illustrative simulation is provided to show the effectiveness of the main results.

Key words: multi-agent system, leader-following formation, communication pause, minimum energy

Donghao QIN, Le WANG, Jiuan GAO, Jianxiang XI. Minimum-energy leader-following formation of distributed multi-agent systems with communication constraints[J]. Journal of Systems Engineering and Electronics, 2023, 34(6): 1419-1431.

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Minimum-energy leader-following formation of distributed multi-agent systems with communication constraints

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