Minimum-energy formation for multi-agent systems with interaction suspending
Donghao Qin, Jianxiang Xi, Junlong Li, Le Wang · 2022 41st Chinese Control Conference (CCC) · 2022
The minimum-energy leaderless formation design problems for the multi-agent system is investigated, which is under the condition of randomly switching topologies and aperiodic interaction suspending. Firstly, a leaderless formation control protocol is proposed with local information, where the total energy consumption is constructed. Then, sufficient conditions for the multi-agent system leaderless formation with the minimum-energy constraint are presented in terms of the linear matrix inequality tool, which can be checked by the generalized eigenvalue approach. Finally, a numerical simulation is shown to verify the effectiveness of the main results.