Journal ArticleDOI
Time-Varying Formation Tracking for Linear Multiagent Systems With Multiple Leaders
Xiwang Dong,Guoqiang Hu +1 more
TLDR
Numerical simulations are provided to demonstrate the effectiveness of the theoretical results and the obtained results can be applied to deal with time-varying formation tracking problems, target enclosing problems, and consensus tracking problems for linear multiagent systems with one or multiple targets/leaders.Abstract:
Time-varying formation tracking problems for linear multiagent systems with multiple leaders are studied, where the states of followers form a predefined time-varying formation while tracking the convex combination of the states of multiple leaders. Followers are classified into well-informed ones and uninformed ones, where the neighbor set of the former contains all the leaders, whereas the latter contains no leaders. A formation tracking protocol is constructed using only neighboring relative information. Necessary and sufficient conditions for multiagent systems with multiple leaders to achieve time-varying formation tracking are proposed by utilizing the properties of the Laplacian matrix, where the formation tracking feasibility constraints are also given. An approach to design the formation tracking protocol is presented by solving an algebraic Riccati equation. The obtained results can be applied to deal with time-varying formation tracking problems, target enclosing problems, and consensus tracking problems for linear multiagent systems with one or multiple targets/leaders. Numerical simulations are provided to demonstrate the effectiveness of the theoretical results.read more
Citations
More filters
Journal ArticleDOI
Fixed-Time Event-Triggered Consensus for Nonlinear Multiagent Systems Without Continuous Communications
TL;DR: It is proved that there is no Zeno behavior under the fixed-time event-triggered consensus control strategies and the availability of the control algorithms is verified by numerical simulations.
Journal ArticleDOI
Cooperative Adaptive Event-Triggered Control for Multiagent Systems With Actuator Failures
TL;DR: Based on Lyapunov stability theory, it is proved that the designed controllers can guarantee the outputs of all agents eventually converge to agreement and all the signals in the systems are bounded in probability.
Journal ArticleDOI
Predictor-Based Extended-State-Observer Design for Consensus of MASs With Delays and Disturbances
TL;DR: This paper considers the linear case and a novel predictor-based extended state observer is designed for each follower with relative output information of the neighboring agents, and leader–follower consensus protocols are proposed which can compensate the delays and disturbances efficiently.
Journal ArticleDOI
Distributed Time-Varying Formation Robust Tracking for General Linear Multiagent Systems With Parameter Uncertainties and External Disturbances
TL;DR: Based on the Lyapunov-like analysis theory, it is proved that the formation tracking error can converge to zero asymptotically and the effectiveness of the theoretical results is verified.
Journal ArticleDOI
Practical Time-Varying Formation Tracking for Second-Order Nonlinear Multiagent Systems With Multiple Leaders Using Adaptive Neural Networks
TL;DR: The stability of the closed-loop multiagent system is proven by using the Lyapunov theory by investigating practical time-varying formation tracking problems for second-order nonlinear multiagent systems with multiple leaders using adaptive neural networks.
References
More filters
Journal ArticleDOI
A survey of multi-agent formation control
TL;DR: A survey of formation control of multi-agent systems focuses on the sensing capability and the interaction topology of agents, and categorizes the existing results into position-, displacement-, and distance-based control.
Journal ArticleDOI
Optimal Design for Synchronization of Cooperative Systems: State Feedback, Observer and Output Feedback
TL;DR: It is shown that unbounded synchronization regions that achieve synchronization on arbitrary digraphs containing a spanning tree can be guaranteed by using linear quadratic regulator based optimal control and observer design methods at each node.
Journal ArticleDOI
Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty
TL;DR: It is demonstrated how adaptive switching supervisory control can be combined with a nonlinear Lyapunov-based tracking control law to solve the problem of global boundedness and convergence of the position tracking error to a neighborhood of the origin that can be made arbitrarily small.
Journal ArticleDOI
Consensus strategies for cooperative control of vehicle formations
TL;DR: In this article, a consensus-based formation control strategy is proposed to guarantee accurate formation maintenance in the general case of arbitrary (directed) information flow between vehicles as long as certain mild conditions are satisfied.
Book
Distributed Coordination of Multi-agent Networks
Wei Ren,Yongcan Cao +1 more
TL;DR: This distributed coordination of multi agent networks book will probably make you feel curious and help you to have willing to reach all benefits.
Related Papers (5)
Consensus problems in networks of agents with switching topology and time-delays
Consensus seeking in multiagent systems under dynamically changing interaction topologies
Wei Ren,Randal W. Beard +1 more