Adaptive Formation Tracking Control for First-Order Agents With a Time-Varying Flow Parameter

被引：34

作者：

Chen, Yang-Yang ^{[1
,2
]}

Chen, Kaiwen ^{[3
]}

Astolfi, Alessandro ^{[3
,4
]}

机构：

[1] Southeast Univ, Minist Educ, Sch Automat, Nanjing 210096, Peoples R China

[2] Southeast Univ, Minist Educ, Key Lab Measurement & Control Complex Syst Engn, Nanjing 210096, Peoples R China

[3] Imperial Coll London, Dept Elect & Elect Engn, London SW7 2AZ, England

[4] Univ Roma Tor Vergata, Dept Civil Engn & Comp Sci Engn, I-00133 Rome, Italy

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2022年 / 67卷 / 05期

基金：

中国国家自然科学基金; 欧盟地平线“2020”;

关键词：

Orbits; Task analysis; Time-varying systems; Planetary orbits; Network topology; Integrated circuits; Control systems; Adaptive estimate; formation tracking control; time-varying flow parameters; COLLECTIVE MOTION; SURFACE VEHICLES; 2ND-ORDER AGENTS; SYSTEMS; COORDINATION;

D O I：

10.1109/TAC.2021.3074900

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A novel adaptive method to achieve both path following and formation moving along desired orbits in the presence of a spatio-temporal flowfield is presented. The flowfield is a spatio-temporal general flow with unknown time-varying parameters. The so-called congelation of variables method is used to estimate the time-varying flow parameters, which do not have any restrictions on the rate of their variation. The asymptotic properties of the resulting adaptive system are studied in detail. Simulation results demonstrate the effectiveness of the proposed method.

引用

页码：2481 / 2488

页数：8

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