Paper Info
Title
Formation-containment tracking for general linear multi-agent systems with a tracking-leader of unknown control input.
Abstract
This paper investigates the formation-containment tracking problems for general linear multi-agent systems with a tracking-leader of unknown control input, where the agents are classified into a tracking-leader, several formation-leaders and followers. The formation-leaders are required to accomplish a given time-varying formation configuration and track the desired trajectory generated by the tracking-leader simultaneously, while the followers need to converge to the convex hull spanned by the formation-leaders. Firstly, based on the neighboring relative information, a formation-containment tracking protocol is proposed under the influences of the tracking-leader’s unknown input. Then an algorithm is given to determine the control parameters, where a general formation-containment tracking feasible constraint is presented. It is proved that the given formation-containment tracking can be achieved under the discontinuous protocol. Furthermore, in order to avoid the large chattering of the control inputs, a continuous formation-containment tracking protocol is also presented, under which the errors can converge to an arbitrarily small neighborhood of zero. Finally, a simulation example is given to verify the theoretical results.
Year
DOI
Venue
2018
10.1016/j.sysconle.2018.10.006
Systems & Control Letters
Keywords
Field
DocType
Formation control,Containment control,Distributed tracking,Multi-agent systems
Mathematical optimization,Control theory,Convex hull,Multi-agent system,Trajectory,Containment,Mathematics
Journal
Volume
ISSN
Citations 
122
0167-6911
5
PageRank 
References 
Authors
0.40
22
5
Name
Order
Citations
PageRank
Yongzhao Hua1333.80
Xiwang Dong257335.47
Liang Han3345.61
Qingdong Li410212.25
Zhang Ren515322.79