Partial synchronization and stabilization control for multi-agent systems
Yangguang Yu, Xiangke Wang, Yirui Cong, Yajing Wang, Zhihong Liu · 2021 China Automation Congress (CAC) · 2021
This paper investigates a new coordination type of the multi-agent system, which is called partial synchronization and stabilization control. Different from previous studies in which the agents’ state are all convergent to a nonzero state, in this paper, only part of the agents’ states synchronize while the other part all converge to zero. The partial synchronization and stabilization control can be applied to the formation control of high-order system and give the formation more flexibility. In this paper, a distributed control law design scheme for the partial synchronization and stabilization control problem is presented and the stability of the closed-loop system with designed control law is proved. Meanwhile, different from previous works in which the system’s dynamics is limited to be integrators, this scheme can be applied to system whose dynamics is in general linear form. Finally, a simulation is presented to validate the proposed theoretical results.