Limit-cycle-based design of formation control for multi-agent systems
Date:
31 Jul, 2019 (Wed)
Time:
11:00 am - 12:30 pm
Location:
Room 603, Chow Yei Ching Building

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Speaker

Dr. Weiguo Xia
Dalian University of Technology, China

Abstract

We study the formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. Each agent can merely perceive the relative information of the target and its neighbors. In order to solve the formation problem, a limit-cycle based controller design is delivered. We divide the overall control objective into two sub-objectives, where the first is target circling that each agent keeps its own desired distance to the static/moving target as well as rotating around or remaining static relative to the target as expected, and the second is distribution adjustment that each agent maintains the desired distance to its neighbors. Then we propose a controller comprised of two parts, where a limit cycle oscillator named a converging part is designed to deal with the first sub-objective, while a layout part is introduced to address the second sub-objective. One key merit of the controller is that it can be implemented by each agent in its local frame so that only local information is utilized without knowing global information. Theoretical analysis of the convergence to the desired formation is provided for the multi-agent system and numerical simulations are given to validate the effectiveness of the proposed controller.

 

Biography of the speaker:

Weiguo Xia received the B.Sc. degree and the M.Sc. degree in Applied Mathematics both from the Department of Mathematics, Southeast University, China, in 2006 and 2009, respectively. He received the Ph.D. degree from the Faculty of Mathematics and Natural Sciences, ENTEG, University of Groningen, the Netherlands, in 2013. Currently, he is an associate professor with the School of Control Science and Engineering, Dalian University of Technology, Dalian, China. From 2013 to 2015, he was a Postdoctoral Researcher at ACCESS Linnaeus Centre, Royal Institute of Technology, Stockholm, Sweden. His research interests include complex networks, social networks, and multi-agent systems.


Organizer

Dr. T. Liu

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