Time-varying group formation-tracking control for heterogeneous multi-agent systems with switching topologies and time-varying delays

2021 ◽  
Author(s):  
Shiyu Zhou ◽  
Xiaobao Wei ◽  
Xiwang Dong ◽  
Yongzhao Hua ◽  
Zhang Ren
Keyword(s):  
Tracking Control ◽  
Group Formation ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Switching Topologies ◽  
Formation Tracking ◽  
Multi Agent

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.

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