Paper Info
Title
Time-Varying Formation Control For Multi-Agent Systems With Uncertainties And Switching Directed Topology
Abstract
the formation control for multi-agent systems with time-varying uncertainties under directed topology is considered in this paper. By constructing a distributed extended state observer, the uncertainties and external disturbance suffered by the agents during formation process can be estimated. On the basis of the ESO, a distributed formation control protocol is proposed based on switching directed topologies. Further, the necessary and sufficient conditions which the multi-agent systems need to achieve time-varying formation under the designed protocol are proved. An explicit expression of time-varying formation reference function is also presented to reveal the macroscopic motion of the whole formation. The algorithm to clear the protocol is given, and it guarantees that the multi-agent systems with uncertain dynamics and switching directed topologies can hold their positions in the formation. This method help the multi-agent systems reach the desired locations in an expected formation shape with small error.
Year
DOI
Venue
2020
10.1109/ICCA51439.2020.9264437
2020 IEEE 16TH INTERNATIONAL CONFERENCE ON CONTROL & AUTOMATION (ICCA)
DocType
ISSN
Citations 
Conference
1948-3449
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Chaoyang Dong1397.21
Han Sui2101.15
Qing Wang354.82