Paper Info
Title
Distributed adaptive control for time-varying formation of general linear multi-agent systems
Abstract
AbstractAn adaptive gain scheduling technique is investigated to discuss distributed time-varying formation TVF control problems for general linear time-invariant multi-agent systems LTI-MASs, where two types of topologies are considered: 1 the interaction topology is undirected and connected, and 2 the interaction topology is directed. Two fully distributed adaptive TVF control protocols are, respectively proposed, which both assign a time-varying coupling weight to each node in the interaction topology. Two algorithms to design the constructed protocols are presented under the undirected and directed interaction topologies, respectively. A feasible TVF set is provided. The stabilities of two algorithms are, respectively proved based on the Lyapunov functional theory. For both undirected and directed interaction topologies, general LTI-MASs can achieve the given TVF using the designed fully distributed adaptive formation protocol without any global information about the interaction topology when the TVF satisfies the feasible set. Finally, theoretical results are illustrated with numerical simulation examples.
Year
DOI
Venue
2017
10.1080/00207721.2017.1382602
Periodicals
Keywords
Field
DocType
Time-varying formation control, distributed adaptive protocol, directed interaction topology, general linear dynamics, multi-agent systems
Mathematical optimization,Coupling,Gain scheduling,Global information,Multi-agent system,Network topology,Adaptive control,Lyapunov functional,Mathematics
Journal
Volume
Issue
ISSN
48
16
0020-7721
Citations 
PageRank 
References 
3
0.38
17
Authors
4
Name
Order
Citations
PageRank
Rui Wang1426.80
Xiwang Dong257335.47
Qingdong Li310212.25
Zhang Ren415322.79