Distributed Adaptive Bipartite Time-Varying Formation Control for Heterogeneous Unknown Nonlinear Multi-Agent Systems

被引：9
作者：
Wang, Weike [1 ]
Zhang, Wei [1 ]
Yan, Chenhang [1 ]
Fang, Yu [1 ]
机构：
[1] Shanghai Univ Engn Sci, Lab Intelligent Control & Robot, Shanghai 201600, Peoples R China
来源：
IEEE ACCESS | 2021年 / 9卷
关键词：
Protocols; Topology; Vehicle dynamics; Time-varying systems; Robustness; Multi-agent systems; Consensus control; Heterogeneous; multi-agent systems; distributed control; adaptive control; bipartite time-varying formation; FORMATION TRACKING; CONSENSUS; CONTAINMENT; NETWORKS; LEADER; DESIGN; AGENTS;
D O I：
10.1109/ACCESS.2021.3068966
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper investigates the bipartite time-varying formation control problem for a class of heterogeneous unknown nonlinear multi-agent systems. This bipartite time-varying formation is composed of two sub-formations whose relationship is opposite. By parameterization the unknown nonlinear items of all agents, a distributed adaptive proportional-integral protocol is presented under undirected signed topology to ensure the convergence of the bipartite time-varying formation error. Some sufficient conditions for choosing suitable control parameters are given. In the case of systems with external time-varying but bounded disturbances, the uniformly ultimate boundedness of the formation error and its integration can be guaranteed by the proposed control protocol. A simulative example is provided to illustrate the effectiveness of the proposed protocol.
引用
收藏
页码：52698 / 52707
页数：10
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