Robust Average Formation Tracking for Multi-Agent Systems With Multiple Leaders

被引：1
|
作者：
Jin, Tao [1 ]
Liu, Zhi-Wei [2 ]
Zhou, Hong [1 ]
Guan, Zhi-Hong [2 ]
Qin, Yuzhen [3 ]
Wu, Yonghong [2 ]
机构：
[1] Wuhan Univ, Dept Automat, Wuhan 430072, Hubei, Peoples R China
[2] Huazhong Univ Sci & Technol, Coll Automat, Wuhan 430074, Hubei, Peoples R China
[3] Univ Groningen, ENTEG, Fac Sci & Engn, NL-9747 AG Groningen, Netherlands
来源：
IFAC PAPERSONLINE | 2017年 / 50卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Formation control; Robust formation tracking; Multi-agent systems; Lyapunov analysis; CONSENSUS;
D O I：
10.1016/j.ifacol.2017.08.404
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the formation tracking problem of the multi-agent system under disturbances and unmodeled uncertainties has been studied. An identifier-based robust control algorithm using the neighboring relative information has been proposed to ensure the followers to maintain a given, and time-varying formation and track the average state of the leaders at the same time. Some sufficient conditions for the second-order multi-agent system with multiple leaders in the presence of disturbances and unmodeled uncertainties have been proposed based on the graph theory and the Lyapunov method. Numerical simulations are provided to testify the validity of the algorithm. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：2427 / 2432
页数：6
相关论文
共 50 条
  • [21] Robust formation tracking and collision avoidance for uncertain nonlinear multi-agent systems subjected to heterogeneous communication delays
    Guo, Yaohua
    Zhou, Jun
    Li, Gongjun
    Zhang, Jun
    NEUROCOMPUTING, 2020, 395 : 107 - 116
  • [22] Distributed Average Tracking in Multi-Agent Coordination: Extensions and Experiments
    Saim, Muhammad
    Ghapani, Sheida
    Ren, Wei
    Munawar, Khalid
    Al-Saggaf, Ubaid M.
    IEEE SYSTEMS JOURNAL, 2018, 12 (03): : 2428 - 2436
  • [23] Dynamical Flocking of Multi-agent Systems with Multiple Leaders and Uncertain Parameters
    Wang, Fusheng
    Yang, Hongyong
    THEORY, METHODOLOGY, TOOLS AND APPLICATIONS FOR MODELING AND SIMULATION OF COMPLEX SYSTEMS, PT IV, 2016, 646 : 13 - 20
  • [24] Energy-Constraint Adaptive Time-Varying Formation Tracking for Multi-Agent Systems With Multiple Leaders and Bounded Unknown Inputs
    Yan, Ke-Xing
    Han, Tao
    Xiao, Bo
    Yan, Huaicheng
    IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, 2024, 71 (02) : 802 - 806
  • [25] Controllability of Discrete-Time Multi-Agent Systems with Multiple Leaders on Fixed Networks
    Liu Bo
    Hu Wei-Na
    Zhang Jie
    Su Hou-Sheng
    COMMUNICATIONS IN THEORETICAL PHYSICS, 2012, 58 (06) : 856 - 862
  • [26] A Survey of Multi-Agent Systems on Distributed Formation Control
    Liu, Yefeng
    Liu, Jingjing
    He, Zengpeng
    Li, Zhenhong
    Zhang, Qichun
    Ding, Zhengtao
    UNMANNED SYSTEMS, 2024, 12 (05) : 913 - 926
  • [27] Formation Tracking Control for Multi-agent Systems on Directed Graphs
    Xu, Yifeng
    Wang, Zhenmin
    Chen, Juan
    PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 47 - 52
  • [28] Optimization of formation for multi-agent systems based on LQR
    Yu, Chang-bin
    Wang, Yin-qiu
    Shao, Jin-liang
    FRONTIERS OF INFORMATION TECHNOLOGY & ELECTRONIC ENGINEERING, 2016, 17 (02) : 96 - 109
  • [29] Trajectory Tracking and Formation Control Based on Consensus in Networked Multi-agent Systems
    Su Saijun
    Nian Xiaohong
    Pan Huan
    PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE, 2010, : 4465 - 4470
  • [30] Data-sampled time-varying formation for singular multi-agent systems with multiple leaders
    Sun, Fenglan
    Yu, Xuemei
    Zhu, Wei
    Kurths, Jurgen
    NEURAL NETWORKS, 2025, 181
12345