Formation Control of Multiagent Networks: Cooperative and Antagonistic Interactions
研究了二阶多智能体网络中合作与对抗交互共存的编队控制问题，基于凸分析构造凸多面体，利用矩阵扰动理论分析，实现合作智能体收敛到指定队形并保持与对抗智能体的相对位置。
This article studies the formation control problem of second-order multiagent networks, in which cooperative and antagonistic interactions of the agents spontaneously coexist in the communication process. Based on the convex analysis theory, several convex polytopes that do not require some kinds of system constraints are constructed in the presence of these interactions. Then, the matrix perturbation theory and some mathematical techniques are utilized to analyze these convex polytopes. The obtained results show that the agents with cooperative interactions monotonously converge to their own specified formation shape while maintaining the desired relative position of the other agents with antagonistic interactions. Subsequently, two numerical examples are presented to illustrate the obtained results.