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摘要
A circle forming problem for a group of mobile agents governed by first-order system is investigated, where each agent can only sense the relative angular positions of its neighboring two agents with time delay and move on the one-dimensional space of a given circle. To solve this problem, a novel decentralized sampled-data control law is proposed. By combining algebraic graph theory with control theory, some necessary and sufficient conditions are established to guarantee that all the mobile agents forma pregiven circle formation asymptotically. Moreover, the ranges of the sampling period and the coupling delay are determined, respectively. Finally, the theoretical results are demonstrated by numerical simulations.
- 出版日期2016
- 单位北京大学; 中国矿业大学（北京）; 杭州电子科技大学
