In this paper, formation tracking control problems for second-order multi-agent systems（MASs） with time-varying delays are studied, specifically those where the position and velocity of followers are designed to for...In this paper, formation tracking control problems for second-order multi-agent systems（MASs） with time-varying delays are studied, specifically those where the position and velocity of followers are designed to form a time-varying formation while tracking those of the leader. A neighboring relative state information based formation tracking protocol with an unknown gain matrix and time-varying delays is presented. The formation tracking problems are then transformed into asymptotically stable problems. Based on the Lyapunov-Krasovskii functional approach, conditions sufficient for second-order MASs with time-varying delays to realize formation tracking are examined. An approach to obtain the unknown gain matrix is given and, since neighboring relative velocity information is difficult to measure in practical applications, a formation tracking protocol with time-varying delays using only neighboring relative position information is introduced. The proposed results can be used on target enclosing problems for MASs with second-order dynamics and time-varying delays. An application for target enclosing by multiple unmanned aerial vehicles（UAVs） is given to demonstrate the feasibility of theoretical results.展开更多
Our study is concerned with the time-varying formation tracking problem for second-order multi-agent systems that are subject to unknown nonlinear dynamics and external disturbance, and the states of the followers for...Our study is concerned with the time-varying formation tracking problem for second-order multi-agent systems that are subject to unknown nonlinear dynamics and external disturbance, and the states of the followers form a predefined time-varying formation while tracking the state of the leader. The total uncertainty lumps the unknown nonlinear dynamics and the external disturbance, and is regarded as an extended state of the agent. To estimate the total uncertainty, we design an extended state observer(ESO). Then we propose a novel ESO based time-varying formation tracking protocol. It is proved that, under the proposed protocol, the ESO estimation error and the time-varying formation tracking error can be made arbitrarily small. An application to the target enclosing problem for multiple unmanned aerial vehicles(UAVs) verifies the effectiveness and superiority of the proposed approach.展开更多
This paper investigates the time-varying formation problem for general linear multi-agent systems using distributed event-triggered control strategy.Different from the previous works,to achieve the desired time-varyin...This paper investigates the time-varying formation problem for general linear multi-agent systems using distributed event-triggered control strategy.Different from the previous works,to achieve the desired time-varying formation,a distributed control scheme is designed in an event-triggered way,in which for each agent the controller is triggered only at its own event times.The interaction topology among agents is assumed to be switching.The common Lyapunov function as well as Riccati inequality is applied to solve the time-varying formation problem.Moreover,the Zeno behavior of triggering time sequences can be excluded for each agent.Finally,a simulation example is presented to illustrate the effectiveness of the theoretical results.展开更多
基金co-supported by the National Natural Science Foundation of China (Nos. 61333011, 91216304 and 61121003)
文摘In this paper, formation tracking control problems for second-order multi-agent systems（MASs） with time-varying delays are studied, specifically those where the position and velocity of followers are designed to form a time-varying formation while tracking those of the leader. A neighboring relative state information based formation tracking protocol with an unknown gain matrix and time-varying delays is presented. The formation tracking problems are then transformed into asymptotically stable problems. Based on the Lyapunov-Krasovskii functional approach, conditions sufficient for second-order MASs with time-varying delays to realize formation tracking are examined. An approach to obtain the unknown gain matrix is given and, since neighboring relative velocity information is difficult to measure in practical applications, a formation tracking protocol with time-varying delays using only neighboring relative position information is introduced. The proposed results can be used on target enclosing problems for MASs with second-order dynamics and time-varying delays. An application for target enclosing by multiple unmanned aerial vehicles（UAVs） is given to demonstrate the feasibility of theoretical results.
基金Project supported by the Delta-NTU Corporate Lab through the NRF Corporate Lab@University Scheme
文摘Our study is concerned with the time-varying formation tracking problem for second-order multi-agent systems that are subject to unknown nonlinear dynamics and external disturbance, and the states of the followers form a predefined time-varying formation while tracking the state of the leader. The total uncertainty lumps the unknown nonlinear dynamics and the external disturbance, and is regarded as an extended state of the agent. To estimate the total uncertainty, we design an extended state observer(ESO). Then we propose a novel ESO based time-varying formation tracking protocol. It is proved that, under the proposed protocol, the ESO estimation error and the time-varying formation tracking error can be made arbitrarily small. An application to the target enclosing problem for multiple unmanned aerial vehicles(UAVs) verifies the effectiveness and superiority of the proposed approach.
基金Project supported by the National Natural Science Foundation of China(Grant No.11701138)the Natural Science Foundation of Hebei Province,China(Grant Nos.F2017202009 and F2018202075)
文摘This paper investigates the time-varying formation problem for general linear multi-agent systems using distributed event-triggered control strategy.Different from the previous works,to achieve the desired time-varying formation,a distributed control scheme is designed in an event-triggered way,in which for each agent the controller is triggered only at its own event times.The interaction topology among agents is assumed to be switching.The common Lyapunov function as well as Riccati inequality is applied to solve the time-varying formation problem.Moreover,the Zeno behavior of triggering time sequences can be excluded for each agent.Finally,a simulation example is presented to illustrate the effectiveness of the theoretical results.
