This paper studies the formation control problem of vehicles with heterogeneous parameters and three typical communication topologies. A consensus-based control protocol is given to ensure that the platoon of vehicles realizes the required vehicle spacing and velocity through the local information exchange between individual vehicles. First, we use a state transformation to transform the formation problem of vehicles into a consensus problem of multi-vehicle system. Then, a state linear transformation is used to transform the consensus problem into a stability problem. In addition, the design process of gain matrices in the protocol is given based on Lyapunov’s inequality and bilinear matrix inequality (BMI). Finally, numerical examples are given to illustrate the validity of the results, and the convergence rate of the system is studied under different communication topologies.
Analysis and Design of Heterogeneous Vehicle Formation Control Based on Consensus of Multi-agent Systems
Lect. Notes Electrical Eng.
International Conference on Intelligent Transportation Engineering ; 2021 ; Beijing, China October 29, 2021 - October 31, 2021
2021 6th International Conference on Intelligent Transportation Engineering (ICITE 2021) ; Chapter : 44 ; 499-511
2022-06-01
13 pages
Article/Chapter (Book)
Electronic Resource
English
British Library Conference Proceedings | 2022
|Consensus-Based Formation Control for Heterogeneous Multi-Agent Systems in Complex Environments
DOAJ | 2025
|Wiley | 2024
|