Time-Varying Group Formation With Adaptive Control for Second-Order Multi-Agent Systems

被引：7
作者：
Du, Xiangyang [1 ]
Li, Weixun [1 ]
Xiao, Jingyu [1 ]
Chen, Zengqiang [2 ]
机构：
[1] Tianjin Univ Technol & Educ, Sch Sci, Tianjin 300222, Peoples R China
[2] Nankai Univ, Coll Artificial Intelligence, Tianjin 300350, Peoples R China
来源：
IEEE ACCESS | 2022年 / 10卷
基金：
中国国家自然科学基金;
关键词：
Time-varying systems; Protocols; Nonlinear dynamical systems; Multi-agent systems; Topology; Symmetric matrices; Adaptive control; Time-varying formation; multi-agent systems; adaptive control; nonlinear dynamics; parameter estimation; FORMATION TRACKING; CONSENSUS; DESIGN;
D O I：
10.1109/ACCESS.2022.3170431
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 study, adaptive time-varying group formation control for second-order multi-agent systems with an undirected topology is studied. First, a conventional multi-group adaptive time-varying formation control protocol is presented, and the stability of the system is analyzed based on the Lyapunov method. Considering that traditional methods of dealing with nonlinear dynamics cannot be directly applied to the time-varying formation problem, the parameter estimation method is used to track the unknown internal nonlinear dynamics of an agent. A virtual leader and filter are introduced to solve the problem of variable derivation and repeated derivation of the system state, and the adaptive rate of time-varying formation converges to a stable value. Finally, the feasibility of the results is verified using two simulation results.
引用
收藏
页码：45337 / 45346
页数：10
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