Ultra-fast formation control of high-order discrete-time multi-agent systems based on multi-step predictive mechanism
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- 作者：Wenle Zhanga ; b ; 677zwl@163.com" class="auth_mail" title="E-mail the corresponding author ; Jianchang Liua ; b ; Honghai Wanga ; b
- 关键词：Discrete-time multi-agent system ; Formation control ; Self-feedback ; Distributed control ; Multi-step predictive mechanism
- 刊名：ISA Transactions
- 出版年：2015
- 出版时间：September 2015
- 年：2015
- 卷：58
- 期：Complete
- 页码：165-172
- 全文大小：551 K
文摘
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Using the local neighbor-error knowledge, a multi-step predictive mechanism is established.
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Ultra-fast formation control for high-order multi-agent systems is achieved.
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The asymptotic convergence factor is improved by a power of q+1.
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A unified formation control framework is still kept.
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The new algorithm overcomes the influence of communication topology to the convergence speed.