Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 65, Issue 4, Pages 3417-3426Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2017.2752148
Keywords
Aperiodic sampling; cluster consensus; cluster formation; communication delays; multi-agent systems (MAS)
Categories
Funding
- Australian Research Council [DP160103567]
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This paper addresses the problem of cluster formation control for a networked multi-agent system (MAS) in the simultaneous presence of aperiodic sampling and communication delays. First, to fulfill multiple formation tasks, a group of agents are decomposed into M distinct and nonoverlapping clusters. The agents in each cluster are then driven to achieve a desired formation, whereas the MAS as a whole accomplishes M cluster formations. Second, by a proper modeling of aperiodic sampling and communication delays, an aperiodic sampled-data cluster formation protocol (CFP) is delicately constructed such that the information exchanges among neighboring agents only occur intermittently at discrete instants of time. Third, a detailed theoretical analysis of cluster formability is carried out and a sufficient and necessary condition is provided such that the system is M-cluster formable. Furthermore, a discontinuous Lyapunov functional approach is developed to derive a design criterion on the existence of an admissible sampled-data CFP. Finally, numerical simulations on a team of nonholonomic mobile robots are given to illustrate the effectiveness of the obtained theoretical result.
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