NDLI: Adaptive time-varying formation control for high-order LTI multi-agent systems

Content Provider	IEEE Xplore Digital Library
Author	Wang Rui Dong Xiwang Li Qingdong Zhao Qilun Ren Zhang
Copyright Year	2015
Description	Author affiliation: Sci. & Technol. on Aircraft Control Lab., Beihang Univ., Beijing, China (Wang Rui; Dong Xiwang; Li Qingdong; Zhao Qilun; Ren Zhang)
Abstract	In this paper, distributed time-varying formation control problems for general high-order linear time invariant (LTI) multiagent systems are studied using an adaptive based approach. Firstly, constructed by the states of neighboring agents, a time-varying formation control protocol is proposed, where the adaptive gain scheduling technique is employed to adjusting the coupling weights between neighboring agents. Secondly, an algorithm with two steps is presented to design the distributed adaptive formation control protocol, where a description of the feasible time-varying formation set is given. In contrast to the existing results on formation control, no global information about the interaction topologies is required. Then, the stability of the algorithm is proved using the Lyapunov theory. If the predefined time-varying formation belongs to the feasible formation set, time-varying formation is shown to be achieved by general high-order LTI multi-agent systems using the distributed adaptive formation protocol designed in the proposed algorithm. Finally, a numerical example is given to demonstrate the effectiveness of the theoretical results.
Starting Page	6998
Ending Page	7003
File Size	202377
Page Count	6
File Format	PDF
ISBN	9789881563897
ISSN	19341768
DOI	10.1109/ChiCC.2015.7260746
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Technical Committee on Control Theory, Chinese Association of Automation
Subject Keyword	Linear systems Algorithm design and analysis Protocols High-order Dynamics Distributed Adaptive Protocol Multi-agent Systems Topology Time-varying systems Time-varying Formation Control Multi-agent systems
Content Type	Text
Resource Type	Article

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