Distance‐based control of formations with hybrid communication topology. (30th October 2017)

• Record Type: Journal Article
• Authors: Hou, Yun; Yu, Changbin
• Is Part Of: International journal of robust and nonlinear control. Volume 28:Number 3(2018)
• Page Start: 881
• Page End: 900
• Publication Date: 2017-10-30
• Subjects: distance‐based control -- graph persistence -- graph topology; Automatic control -- Periodicals; Control theory -- Periodicals; Nonlinear systems -- Periodicals; 629.836
• DOI: 10.1002/rnc.3909
• Languages: English
• ISSNs: 1049-8923

Abstract

Summary: In this paper, we focus on the control of multiagent formations with hybrid communication topology through a distance‐based approach. By saying hybrid topology, we mean that the communication topology contains both undirected and directed links, or the underlying graph of the formation contains both undirected and directed edges. A new type of graph, ie, hybrid graph, is introduced. We discuss the persistence of hybrid graphs and present the persistence verification strategy for hybrid graphs. It is proved that all the minimally persistent hybrid graphs can be obtained from persistent directed graphs by the operation of edge transformation. As the main result, it is shown that multiagent formations modeled by acyclic persistent hybrid graphs can be stabilized locally under distance‐based controllers.