Distributed Time-Varying Output Formation Tracking for Heterogeneous Linear Multiagent Systems With a Nonautonomous Leader of Unknown Input

Hua, Yongzhao; Dong, Xiwang; Hu, Guoqiang; Li, Qingdong; Zhang, Ren

doi:10.1109/tac.2019.2893978

Cited by 130 publications

(53 citation statements)

References 37 publications

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“…Cooperative output regulation of HMASs, which can be viewed as a generalization of the consensus tracking problems, has captured attention recently, where the heterogeneous follower subsystems need track the reference trajectory or reject the disturbance generated by the exosystem (ie, the leader). Based on the framework of cooperative output regulation, several formation control approaches for HMASs were presented in References . Specifically, time‐invariant formation tracking problems for discrete‐time HMASs with uncertainties were studied in Reference .…”

Section: Introductionmentioning

confidence: 99%

“…The system matrix of the leader is only known to the followers which contain the leader as neighbor in Reference , and an adaptive OFT protocol was provided based on time‐varying L 2 ‐gain design. An OFT control approach was presented for HMASs in Reference , where the leader was assumed to be nonautonomous with unknown input. In Reference , output formation‐containment problems for HMASs with discrete‐time communication were addressed, where a virtual leader was applied to generate the trajectory of the whole system.…”

Section: Introductionmentioning

confidence: 99%

“…It should be pointed out that the expected trajectory of the whole HMAS was generated by only one real/virtual leader in References . In some applications, there are multiple leaders for the followers to track .…”

Section: Introductionmentioning

confidence: 99%

“…Thus, it is significant to further study the formation tracking approaches without depending on the well‐informed follower assumption. In this case, all the followers cannot acquire the complete information of the multiple leaders, while the existing results for HMASs with one leader in References all required that at least one follower can get the leader's information directly. So these approaches in References cannot be applied to the multiple leaders simply.…”

Section: Introductionmentioning

confidence: 99%

“…In this case, all the followers cannot acquire the complete information of the multiple leaders, while the existing results for HMASs with one leader in References all required that at least one follower can get the leader's information directly. So these approaches in References cannot be applied to the multiple leaders simply. In addition, although multiple leaders were considered in the containment control for HMASs in References , all the followers cannot reach an agreement on the same convex combination of the leaders without the well‐informed follower assumption (see remark 4 in Reference ), and all the leaders were assumed to share identical dynamics.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Distributed adaptive formation tracking for heterogeneous multiagent systems with multiple nonidentical leaders and without well‐informed follower

Hua

Dong

et al. 2020

Intl J Robust & Nonlinear

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Summary This paper studies the time‐varying output formation tracking (OFT) problems for linear heterogeneous multiagent systems with multiple leaders, where both the followers and the leaders can have nonidentical dynamics and dimensions. The existing results on formation tracking with multiple leaders depend on the assumption that each follower is well‐informed or uninformed, where the well‐informed follower has all the leaders as its neighbor. To remove this assumption, a novel OFT approach is presented using a distributed observer scheme. Firstly, based on the local estimation and the interaction with neighboring followers, a fully distributed observer is designed for each follower to estimate the dynamical matrices and the states of multiple leaders without requiring the well‐informed follower assumption. The convergence of the distributed observer is proved by using Lyapunov theory. Then, an adaptive algorithm is proposed to solve the regulator equations in finite time based on the estimation of the leaders' dynamical matrices. Furthermore, the desired time‐varying output formation of each follower is generated by a local active exosystem. A time‐varying OFT protocol is presented using the estimated states of multiple leaders, the online solutions of the regulator equations, and the desired formation vector generated by the local exosystem. It is proved that the outputs of the followers can not only realize the expected formation shape but also track the predefined convex combination of multiple leaders. Finally, a simulation example is given to verify the theoretical results.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Distributed adaptive formation tracking for heterogeneous multiagent systems with multiple nonidentical leaders and without well‐informed follower

Hua

Dong

et al. 2020

Intl J Robust & Nonlinear

Self Cite

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Fault‐tolerant control of heterogeneous multi‐agent systems with state constraints

Jia

Wang

Liu

2023

Adaptive Control & Signal

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In this paper, the adaptive fault-tolerant control (FTC) problem of heterogeneous multi-agent systems (HMASs) with state constraints composed of first-order and second-order agents is studied. The problems of fault and constraints are inevitable during the operation of the system, the authors consider the fault of the system as actuator fault, and the constraints of the system can be considered as state constraints. Based on the backstepping framework, the logarithmic barrier Lyapunov function is selected to study the stability of system with constraints. For the bias fault of actuator fault, adaptive estimation is carried out, which can estimate the fault more accurately. Finally, an adaptive constrained FTC scheme is successfully designed to ensure that each signal of the system is bounded. Simulation examples show that the constrained FTC scheme is effective.

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Semi‐global leader–following output consensus of heterogeneous systems with all agents subject to input saturation

Zhou

Chen

2022

Intl J Robust & Nonlinear

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In this paper, we consider the semi‐global leader–following output consensus of heterogeneous multi‐agent linear systems over a directed communication graph with both the leader agent and the follower agents subject to input saturation. Via the low gain feedback design technique, both the state feedback and output feedback consensus protocols are constructed. In the state feedback case, a fully distributed observer is given to estimate the state of the leader agent. In the output feedback case, for both the informed follower agents and the uninformed follower agents, a state observer and a distributed leader state observer for each follower are designed to estimate the state of the follower itself and the state of the leader agent, respectively. In the distributed leader state observer, additional discontinuous functions are designed to suppress the influence of the bounded input of the leader agent. In both consensus protocols, a term under a condition similar to that used in the robust control is used to compensate for the control input of the leader agent.

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Distributed Time-Varying Output Formation Tracking for Heterogeneous Linear Multiagent Systems With a Nonautonomous Leader of Unknown Input

Cited by 130 publications

References 37 publications

Distributed adaptive formation tracking for heterogeneous multiagent systems with multiple nonidentical leaders and without well‐informed follower

Distributed adaptive formation tracking for heterogeneous multiagent systems with multiple nonidentical leaders and without well‐informed follower

Fault‐tolerant control of heterogeneous multi‐agent systems with state constraints

Semi‐global leader–following output consensus of heterogeneous systems with all agents subject to input saturation

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