This paper investigates the consensus-based formation control problem for multi-agent systems with unknown nonlinear dynamics.To achieve the desired formation,we propose two formation controllers to achieve the desire...This paper investigates the consensus-based formation control problem for multi-agent systems with unknown nonlinear dynamics.To achieve the desired formation,we propose two formation controllers to achieve the desired formation,one based on system states and the other on system outputs.The proposed controllers utilize adaptive gains to avoid global information and neural networks to estimate and compensate for nonlinearities.The proposed event-triggered schemes avoid continuous communication among agents and exclude the Zeno behavior.Stability analysis reveals that formation errors are bounded,and numerical simulations are used to validate the effectiveness of the proposed approaches.展开更多
基金This work was supported by the National Key R&D Program of China(Grant No.2022YFB3305600)the National Natural Science Foundation of China(Grant Nos.62103015,62141604 and 92067204)the Fundamental Research Funds for Central Universities of China(Grant No.YWF-23-03-QB-019).
文摘This paper investigates the consensus-based formation control problem for multi-agent systems with unknown nonlinear dynamics.To achieve the desired formation,we propose two formation controllers to achieve the desired formation,one based on system states and the other on system outputs.The proposed controllers utilize adaptive gains to avoid global information and neural networks to estimate and compensate for nonlinearities.The proposed event-triggered schemes avoid continuous communication among agents and exclude the Zeno behavior.Stability analysis reveals that formation errors are bounded,and numerical simulations are used to validate the effectiveness of the proposed approaches.
