Robust adaptive time-varying formation control for high-order linear uncertain multi-agent systems

被引：0

作者：

Hua, Yongzhao ^{[1
]}

Dong, Xiwang ^{[1
]}

Li, Qingdong ^{[1
]}

Ren, Zhang ^{[1
]}

Zhang, Yuan ^{[1
]}

机构：

[1] Beihang Univ, Sci & Technol Aircraft Control Lab, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China

来源：

PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年

基金：

中国国家自然科学基金;

关键词：

Time-varying formation; Adaptive control; Robust control; Multi-agent system; UNMANNED AERIAL VEHICLES; INTERACTION TOPOLOGIES; MOBILE ROBOTS; CONSENSUS; AGENTS; DELAYS; NETWORKS; TRACKING;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Robust adaptive time-varying formation control problems for high-order linear multi-agent systems with parameter uncertainties and external disturbances are investigated. Firstly, using the adaptive updating mechanism, a fully distributed time-varying formation control protocol is proposed. The protocol is determined by each agent in a fully distributed form and does not need any global information about the interaction topology. Then, time-varying formation feasible conditions and an approach to expand the feasible formation set are presented. Furthermore, the stability of the proposed approach is proved based on the Lyapunov theory. Finally, a simulation example is given to verify the effectiveness of the theoretical results.

引用

页码：8349 / 8354

页数：6

共 27 条

[21] Controlling anonymous mobile agents with unidirectional locomotion to form formations on a circle [J].

Wang, Chen ;

Xie, Guangming ;

Cao, Ming .

AUTOMATICA, 2014, 50 (04) :1100-1108

[22] Distributed adaptive time-varying formation for multi-agent systems with general high-order linear time-invariant dynamics [J].

Wang, Rui ;

Dong, Xiwang ;

Lin, Qingdong ;

Ren, Zhang .

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2016, 353 (10) :2290-2304

[23] Passivity-based formation control of autonomous underwater vehicles [J].

Wang, Y. ;

Yan, W. ;

Li, J. .

IET CONTROL THEORY AND APPLICATIONS, 2012, 6 (04) :518-525

[24] Admissible output consensualization control for singular multi-agent systems with time delays [J].

Xi, Jianxiang ;

He, Ming ;

Liu, Hao ;

Zheng, Jianfei .

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2016, 353 (16) :4074-4090

[25] Consensus analysis and design for high-order linear swarm systems with time-varying delays [J].

Xi, Jianxiang ;

Shi, Zongying ;

Zhong, Yisheng .

PHYSICA A-STATISTICAL MECHANICS AND ITS APPLICATIONS, 2011, 390 (23-24) :4114-4123

[26] Finite-time formation control for multi-agent systems [J].

Xiao, Feng ;

Wang, Long ;

Chen, Jie ;

Gao, Yanping .

AUTOMATICA, 2009, 45 (11) :2605-2611

[27] Distributed finite-time velocity-free attitude coordination control for spacecraft formations [J].

Zou, An-Min ;

de Ruiter, Anton H. J. ;

Kumar, Krishna Dev .

AUTOMATICA, 2016, 67 :46-53

← 1 2 3 →