%0 Journal Article
%T A Distributed Formation Control Algorithm and Stability Analysis<br>一类分布式队形控制及其稳定性分析
%A ZHENG Jun
%A YAN Wen-Jun
%A <br>郑军
%A 颜文俊
%J 自动化学报
%D 2008
%I 
%X This paper investigates a discrete coordination control algorithm of vehicle formations,and analyzes the algorithm's stability and convergence using techniques from graph theoretic methods and matrix theory.A sufficient and necessary condition for asymptotic stability of the system studied is proved,and the value-taking region of feedback control parameters is obtained.We also prove the convergence of vehicles moving to a desired formation and a common velocity under the above sufficient-necessary condition.A six-vehicle formation coordination control example is shown in simulation to verify our theoretical result.
%K Multi-agent systems
%K formation control
%K stability
%K algebraic graph theory
%K matrix theory<br>多智能体系统
%K 队形控制
%K 稳定性
%K 代数图论
%K 矩阵论
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=A933AD591F25F466B3E6785E84D419C5&yid=67289AFF6305E306&vid=339D79302DF62549&iid=9CF7A0430CBB2DFD&sid=DFBBF6D86DD97199&eid=0EFDF9DD0F63E842&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=11