Distributed adaptive time-varying formation control for Lipschitz nonlinear multi-agent systems

2021 ◽  
pp. 014233122110320
Author(s):  
Chenhang Yan ◽  
Wei Zhang ◽  
Hui Guo ◽  
Fanglai Zhu ◽  
Yuchen Qian
Keyword(s):  
Communication Networks ◽  
Formation Control ◽  
Tracking Error ◽  
Laplacian Matrix ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Formation Tracking ◽  
Leader Following ◽  
Multi Agent

In this paper, two kinds of distributed time-varying formation tracking problems for a class of Lipschitz nonlinear multi-agent systems are investigated, that is, the cases with leadless and leader-following formation. By devising a new type of edge-based adaptive algorithm, the controller of each agent can avoid the use of eigenvalues of Laplacian matrix in communication networks. The proposed algorithm only utilizes local information among neighbouring agents to form time-varying formation for nonlinear multi-agent systems with mismatched nonlinearities, and the formation tracking error is uniformly ultimately bounded. To accomplish the required time-varying formation characteristic, a predesigned formation compensation function is given. Finally, numerical simulation examples are presented to indicate the stability of the proposed algorithm, and a comparison is also given to show the superiority of the given algorithm.

scholarly journals Time-varying output formation-tracking of heterogeneous multi-agent systems with time-varying delays and switching topologies

2021 ◽  
Vol 54 (9-10) ◽  
pp. 1371-1382
Author(s):  
Shiyu Zhou ◽  
Yongzhao Hua ◽  
Xiwang Dong ◽  
Jianglong Yu ◽  
Zhang Ren
Keyword(s):  
Tracking Error ◽  
Lyapunov Theory ◽  
Reference Trajectory ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Switching Topologies ◽  
Formation Tracking ◽  
Multi Agent ◽  
Control Feedback

This paper focuses on the time-varying output formation (TVOF) tracking control of heterogeneous linear multi-agent systems (HL-MASs) with both delays and switching topologies, where the followers’ outputs can move along the reference trajectory generated by the leaders and maintain the desired time-varying formation. First, a distributed observer is proposed for each follower, aiming to estimate the convex combination of leaders’ state with both communication delays and switching graphs. The observer’s error for heterogeneous MASs is analyzed based on Lyapunov theory and linear matrix inequality (LMI) technique. Second, the observer is incorporated into the output formation tracking protocol. Then, an algorithm is put forward to calculate the control feedback gains and the formation tracking feasibility constraint is also provided. Furthermore, the convergence of the formation tracking error is proved. At last, the effectiveness of this proposed method is validated through a numerical simulation.

Leader-following consensus of second-order multi-agent systems with time-varying delays and arbitrary weights

2020 ◽  
Vol 42 (16) ◽  
pp. 3156-3167
Author(s):  
Lin Shi ◽  
Dongmei Xie
Keyword(s):  
Average Dwell Time ◽  
Laplacian Matrix ◽  
Switching Topology ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Consensus Tracking ◽  
Communication Topology ◽  
Leader Following ◽  
Multi Agent

Using Lyapunov first method instead of traditional Lyapunov second method, this paper focuses on studying the consensus tracking control problem of multi-agent systems (MASs) with time-varying delays and arbitrary adjacent weights under fixed topology and switching topology, respectively. We first give four equivalent criteria for MASs with fixed communication topology, where the positive stability of matrix [Formula: see text] ( L is the Laplacian matrix of [Formula: see text], B is the leader’s adjacency matrix) not only plays a key role as usual but also becomes an urgent and more complicated problem due to the introduction of negative weights in MASs. Second, for MASs with switching communication topology if the average dwell time of switching topology, the total activation time of stable subsystems and the upper bound of time delay satisfy some conditions, then MASs with all stable subsystems (partially stable subsystems) can achieve consensus tracking. Finally, simulations are given to demonstrate the effectiveness of our theoretical results.

scholarly journals Distributed Adaptive Formation Tracking Control under Fixed and Switching Topologies: Application on General Linear Multi-Agent Systems

Symmetry ◽  
2021 ◽  
Vol 13 (6) ◽  
pp. 941
Author(s):  
Tianhao Sun ◽  
Huiying Liu ◽  
Yongming Yao ◽  
Tianyu Li ◽  
Zhibo Cheng
Keyword(s):  
Switching Topology ◽  
General Linear ◽  
Time Varying ◽  
Multi Agent System ◽  
Multi Agent Systems ◽  
Agent System ◽  
Switching Topologies ◽  
Formation Tracking ◽  
Leader Following ◽  
Multi Agent

In this paper, the time-varying formation tracking problem of the general linear multi-agent system is discussed. A distributed formation tracking protocol based on Riccati inequalities with adaptive coupling weights among the follower agents and the leader agent is designed for a leader-following multi-agent system under fixed and switching topologies. The formation configuration involved in this paper is expressed as a bounded piecewise continuously differentiable vector function. The follower agents will achieve the desired formation tracking trajectory of the leader. In traditional static protocols, the coupling weights depend on the communication topology and is a constant. However, in this paper, the coupling weights are updated by the state errors among the neighboring agents. Moreover, the stability analysis of the MAS under switching topology is presented, and proves that the followers also could achieve pre-specified time-varying formation, if the communication graph is jointly connected. Two numerical simulations indicate the capabilities of the algorithms.

Sign in / Sign up

Export Citation Format

Share Document