Adaptive output-feedback time-varying formation protocol design for linear swarm systems with directed topology

Wang Rui; Dong Xiwang; Li Qingdong; Qin Zekui; Ren Zhang

doi:10.23919/ChiCC.2017.8028697

Adaptive output-feedback time-varying formation protocol design for linear swarm systems with directed topology

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper studies output-feedback time-varying formation (TVF) protocol design problems for general linear swarm systems with directed interaction topology. By adding extra observers, an adaptive output-feedback TVF protocol is constructed for general linear swarm systems with directed interaction topology to achieve a given TVF. Then, a fully distributed algorithm is proposed based on only local output information of each agent and its neighbors. Moreover, a sufficient condition for achieving the desired TVF under the designed adaptive output-feedback TVF protocol is derived based on the Lyapunov theory. Finally, a simulation example is presented to illustrate the theoretical results.

Original language	English
Title of host publication	Proceedings of the 36th Chinese Control Conference, CCC 2017
Editors	Tao Liu, Qianchuan Zhao
Publisher	IEEE Computer Society
Pages	8455-8460
Number of pages	6
ISBN (Electronic)	9789881563934
DOIs	https://doi.org/10.23919/ChiCC.2017.8028697
State	Published - 7 Sep 2017
Event	36th Chinese Control Conference, CCC 2017 - Dalian, China Duration: 26 Jul 2017 → 28 Jul 2017

Publication series

Name	Chinese Control Conference, CCC
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	36th Chinese Control Conference, CCC 2017
Country/Territory	China
City	Dalian
Period	26/07/17 → 28/07/17

Keywords

Directed interaction topology
Distributed adaptive protocol
Output feedback information
Swarm systems
Time-varying formation control

Access to Document

10.23919/ChiCC.2017.8028697

Cite this

Rui, W., Xiwang, D., Qingdong, L., Zekui, Q., & Zhang, R. (2017). Adaptive output-feedback time-varying formation protocol design for linear swarm systems with directed topology. In T. Liu, & Q. Zhao (Eds.), Proceedings of the 36th Chinese Control Conference, CCC 2017 (pp. 8455-8460). Article 8028697 (Chinese Control Conference, CCC). IEEE Computer Society. https://doi.org/10.23919/ChiCC.2017.8028697

@inproceedings{be8dfec4d684410d81c50a5ea1b672b7,

title = "Adaptive output-feedback time-varying formation protocol design for linear swarm systems with directed topology",

abstract = "This paper studies output-feedback time-varying formation (TVF) protocol design problems for general linear swarm systems with directed interaction topology. By adding extra observers, an adaptive output-feedback TVF protocol is constructed for general linear swarm systems with directed interaction topology to achieve a given TVF. Then, a fully distributed algorithm is proposed based on only local output information of each agent and its neighbors. Moreover, a sufficient condition for achieving the desired TVF under the designed adaptive output-feedback TVF protocol is derived based on the Lyapunov theory. Finally, a simulation example is presented to illustrate the theoretical results.",

keywords = "Directed interaction topology, Distributed adaptive protocol, Output feedback information, Swarm systems, Time-varying formation control",

author = "Wang Rui and Dong Xiwang and Li Qingdong and Qin Zekui and Ren Zhang",

note = "Publisher Copyright: {\textcopyright} 2017 Technical Committee on Control Theory, CAA.; 36th Chinese Control Conference, CCC 2017 ; Conference date: 26-07-2017 Through 28-07-2017",

year = "2017",

month = sep,

day = "7",

doi = "10.23919/ChiCC.2017.8028697",

language = "英语",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "8455--8460",

editor = "Tao Liu and Qianchuan Zhao",

booktitle = "Proceedings of the 36th Chinese Control Conference, CCC 2017",

address = "美国",

}

Rui, W , Xiwang, D , Qingdong, L, Zekui, Q & Zhang, R 2017, Adaptive output-feedback time-varying formation protocol design for linear swarm systems with directed topology. in T Liu & Q Zhao (eds), Proceedings of the 36th Chinese Control Conference, CCC 2017., 8028697, Chinese Control Conference, CCC, IEEE Computer Society, pp. 8455-8460, 36th Chinese Control Conference, CCC 2017, Dalian, China, 26/07/17. https://doi.org/10.23919/ChiCC.2017.8028697

Adaptive output-feedback time-varying formation protocol design for linear swarm systems with directed topology. / Rui, Wang ; Xiwang, Dong ; Qingdong, Li et al.
Proceedings of the 36th Chinese Control Conference, CCC 2017. ed. / Tao Liu; Qianchuan Zhao. IEEE Computer Society, 2017. p. 8455-8460 8028697 (Chinese Control Conference, CCC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Adaptive output-feedback time-varying formation protocol design for linear swarm systems with directed topology

AU - Rui, Wang

AU - Xiwang, Dong

AU - Qingdong, Li

AU - Zekui, Qin

AU - Zhang, Ren

PY - 2017/9/7

Y1 - 2017/9/7

N2 - This paper studies output-feedback time-varying formation (TVF) protocol design problems for general linear swarm systems with directed interaction topology. By adding extra observers, an adaptive output-feedback TVF protocol is constructed for general linear swarm systems with directed interaction topology to achieve a given TVF. Then, a fully distributed algorithm is proposed based on only local output information of each agent and its neighbors. Moreover, a sufficient condition for achieving the desired TVF under the designed adaptive output-feedback TVF protocol is derived based on the Lyapunov theory. Finally, a simulation example is presented to illustrate the theoretical results.

AB - This paper studies output-feedback time-varying formation (TVF) protocol design problems for general linear swarm systems with directed interaction topology. By adding extra observers, an adaptive output-feedback TVF protocol is constructed for general linear swarm systems with directed interaction topology to achieve a given TVF. Then, a fully distributed algorithm is proposed based on only local output information of each agent and its neighbors. Moreover, a sufficient condition for achieving the desired TVF under the designed adaptive output-feedback TVF protocol is derived based on the Lyapunov theory. Finally, a simulation example is presented to illustrate the theoretical results.

KW - Directed interaction topology

KW - Distributed adaptive protocol

KW - Output feedback information

KW - Swarm systems

KW - Time-varying formation control

UR - https://www.scopus.com/pages/publications/85032224036

U2 - 10.23919/ChiCC.2017.8028697

DO - 10.23919/ChiCC.2017.8028697

M3 - 会议稿件

AN - SCOPUS:85032224036

T3 - Chinese Control Conference, CCC

SP - 8455

EP - 8460

BT - Proceedings of the 36th Chinese Control Conference, CCC 2017

A2 - Liu, Tao

A2 - Zhao, Qianchuan

PB - IEEE Computer Society

T2 - 36th Chinese Control Conference, CCC 2017

Y2 - 26 July 2017 through 28 July 2017

ER -

Adaptive output-feedback time-varying formation protocol design for linear swarm systems with directed topology

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this