Time-Varying Group Formation-Containment Tracking Control for General Linear Multiagent Systems With Unknown Inputs

被引：49
作者：
Lu, Yizhou [1 ]
Dong, Xiwang [1 ,2 ]
Li, Qingdong [1 ]
Lu, Jinhu [1 ,2 ]
Ren, Zhang [1 ,2 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[2] Beihang Univ, Beijing Adv Innovat Ctr Big Data & Brain Comp, Beijing 100191, Peoples R China
来源：
IEEE TRANSACTIONS ON CYBERNETICS | 2022年 / 52卷 / 10期
基金：
中国国家自然科学基金;
关键词：
Multi-agent systems; Trajectory; Protocols; Task analysis; Target tracking; Time-varying systems; Laplace equations; Containment control; formation tracking; group division; linear dynamics; multiagent systems; SWITCHING TOPOLOGIES; COOPERATIVE CONTROL; CONSENSUS PROBLEMS; LEADER; DESIGN; NETWORKS; DYNAMICS; SYNCHRONIZATION; FEEDBACK; AGENTS;
D O I：
10.1109/TCYB.2021.3058086
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Time-varying group formation-containment tracking problems for general linear multiagent systems with unknown control input are investigated. Agents are classified into tracking leaders, formation leaders, and followers and assigned in groups. Tracking leaders with unknown control inputs provide unpredictable trajectories as macroscopic moving references. Formation leaders accomplish desired subformations while following the trails of tracking leaders. At the same time, followers converge into different convex hulls spanned by formation leaders. First, formation-containment tracking protocols are designed with neighboring relative information and effects of unknown input of tracking leaders. Then, the design of group division is analyzed by adjusting the properties in Laplacian matrices, which represent interaction relationships. An algorithm to determine the parameters in control protocols is proposed, and the formation tracking feasible constraint is presented. Next, it is proved that the general linear multiagent system can achieve time-varying group formation-containment control effectively with errors uniformly asymptotically converging to zero under designed protocols. Finally, a numerical simulation is given to verify the effectiveness of obtained theoretical results.
引用
收藏
页码：11055 / 11067
页数：13
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