Decentralized cooperative control with connectivity maintenance for multiagent systems
Xiaoping Fan, Xiaowu Yang, Ganrong Li · International Robotics & Automation Journal · 2019
This paper addresses the cooperative control with connectivity maintenance problem for multi-agent systems. It is assumed that each agent has the same sensing capability, that is to say, each agent can access the relative measurements from its neighboring agents constrained by its sensing maximum distance. In order to fulfill the control objective, the interaction topology of multi-agent systems is first modeled as the graph, and a feasible set of weights is given according to the actual distances of edges established in the graph. Then, a decentralized non-linear controller is provided, which guarantees the property of connectivity maintenance. Moreover, using the above obtained results, the stability analysis of cooperative control for multi-agent systems is investigated by the Lyapunov theory, which shows that the control objective is achieved. To demonstrate the effectiveness of the proposed control schemes, several numerical simulation results are presented.