Time-varying formation control for general linear multi-agent systems with switching directed topologies

Dong, Xiwang; Hu, Guoqiang

doi:10.1016/j.automatica.2016.06.024

Cited by 421 publications

(172 citation statements)

References 43 publications

Supporting

Mentioning

170

Contrasting

Order By: Relevance

“…Our method can also be extended to solve the other coordinated control problems of Euler–Lagrange multi‐agent systems such as flocking, swarming, and so on. As a possible application of this paper, it is interesting to apply our strategy to solve the formation problem studied in .…”

Section: Resultsmentioning

confidence: 99%

Leader‐following consensus with connectivity preservation of uncertain Euler–Lagrange multi‐agent systems

Dong

Huang

2017

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

Summary The leader‐following consensus problem for multiple Euler–Lagrange systems has been extensively studied for various scenarios. Under the assumption that the communication graph is jointly connected, one of our recent papers gave the solution for the case where the leader system can generate a combination of arbitrary step signal, arbitrary ramp signal, and arbitrary sinusoidal signals. In practice, it is desirable to enable the control law the capability of maintaining the connectivity of the communication graph, thus achieving the leader‐following consensus without assuming the connectivity of the communication graph. We call such a problem as leader‐following consensus with connectivity preservation. By combining the adaptive control technique and potential function technique, we will show that such a problem is solvable. By employing different potential functions, our approach may also lead to the solution of such problems as rendezvous, flocking and swarming. Copyright © 2017 John Wiley & Sons, Ltd.

show abstract

Section: Resultsmentioning

confidence: 99%

Leader‐following consensus with connectivity preservation of uncertain Euler–Lagrange multi‐agent systems

Dong

Huang

2017

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…The time-varying formation of multi-agent systems with switching topologies has been studied in [29,30]. Applying analogous analysis in Theorem 3.1 to the switching modes and combining with proper dwell time, the obtained results can be extended to deal with the cooperative control problems such as stationary or time-invariant (cluster) consensus and synchronization (to reach equilibria) even formation for systems with switching topologies.…”

Section: Remark 31mentioning

confidence: 97%

Event-based cluster synchronization of coupled genetic regulatory networks

Yue

Guan

et al. 2017

Physica A: Statistical Mechanics and its Applications

View full text Add to dashboard Cite

“…Formation control of multiagent systems has become an active research field since it has practical potential in various applications, including cooperative surveillance, target enclosing, and drag reduction . Distributed formation control approaches using neighboring interaction have attracted more and more attention due to its higher scalability, flexibility, and computational efficiency . In practice, besides forming the prescribed formation shape, another important problem is how to control the movement of the whole formation.…”

Section: Introductionmentioning

confidence: 99%

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

View full text Add to dashboard Cite

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.

show abstract

Time-varying formation control for general linear multi-agent systems with switching directed topologies

Cited by 421 publications

References 43 publications

Leader‐following consensus with connectivity preservation of uncertain Euler–Lagrange multi‐agent systems

Leader‐following consensus with connectivity preservation of uncertain Euler–Lagrange multi‐agent systems

Event-based cluster synchronization of coupled genetic regulatory networks

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

Contact Info

Product

Resources

About