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Sampling communication formation control of multi-agent systems with minimum-energy constraints
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Donghao QIN1, Le WANG1, 2, Jiuan GAO1, Jianxiang XI1, *, Bo HOU1
Journal of National Niversity of Defense Technology | 2025, 47(6) : 274 - 286
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Journal of National Niversity of Defense Technology | 2025, 47(6): 274-286
• Control Science and Engineering·Information and Communication Engineering·Electronic Science and Technology •
Sampling communication formation control of multi-agent systems with minimum-energy constraints
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Donghao QIN1, Le WANG1, 2, Jiuan GAO1, Jianxiang XI1, *, Bo HOU1
Affiliations
  • 1.College of Missile Engineering, Rocket Force University of Engineering, Xi′an 710025, China
  • 2.School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China
Published: 2025-12-28 doi: 10.11887/j.issn.1001-2486.23110007
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For high-order continuous linear multi-agent systems, a minimum-energy formation design method with sampled-data communication was proposed.Based on local neighboring information of multi-agent systems at sampling time, a time-varying formation cooperative control protocol with global control energy consumption being considered was presented.By the state-space decomposition method, the time-varying formation problem of multi-agent systems was transformed into the stability problem of decomposed non-consensus subsystems.A formation feasible condition was constructed, and sufficient conditions for the design of time-varying formation under minimum-energy constraints were obtained by the generalized eigenvalue approach, which ensured that the time-varying formation of multi-agent systems could be realized under minimum-energy constraints.Theoretical results were verified by a numerical simulation, and simulation results show that the formation control method with minimum-energy constraints can effectively reduce the global control energy consumption of time-varying formation of multi-agent systems with sampled-data communication.

multi-agent system  /  sampling communication  /  time-varying formation control  /  minimum-energy
Donghao QIN, Le WANG, Jiuan GAO, Jianxiang XI, Bo HOU. Sampling communication formation control of multi-agent systems with minimum-energy constraints[J]. Journal of National Niversity of Defense Technology, 2025 , 47 (6) : 274 -286 . DOI: 10.11887/j.issn.1001-2486.23110007
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Article Info
doi: 10.11887/j.issn.1001-2486.23110007
  • Receive Date：2023-11-11
  • Online Date：2026-04-16
  • Published：2025-12-28
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  • Received：2023-11-11
Affiliations
    1.College of Missile Engineering, Rocket Force University of Engineering, Xi′an 710025, China
    2.School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China
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