TY - GEN
T1 - Distributed formation tracking for high-order multi-agent systems with a leader of unknown input and switching topologies via edge-based adaptive protocol
AU - Hua, Yongzhao
AU - Dong, Xiwang
AU - Yu, Bocheng
AU - Li, Qingdong
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/21
Y1 - 2018/8/21
N2 - This paper studies the distributed time-varying formation tracking problems for high-order multi-agent systems with a leader of unknown input and switching topologies. The followers can realize the given formation configuration and track the trajectory of the leader at the same time. By assigning the adaptive gains and the sliding mode terms to each edge of the graph, a novel edge-based adaptive formation tracking protocol is presented to compensate for the leader's unknown input. The proposed approach is fully distributed with no need for the global information of the topology and the upper bound of the leader's input. Based on the common Lyapunov theory, it is proved that the expected formation tracking can be realized by high-order multi-agent systems with arbitrary switching graphs. A simulation example is given to verify the effectiveness of the theoretical results.
AB - This paper studies the distributed time-varying formation tracking problems for high-order multi-agent systems with a leader of unknown input and switching topologies. The followers can realize the given formation configuration and track the trajectory of the leader at the same time. By assigning the adaptive gains and the sliding mode terms to each edge of the graph, a novel edge-based adaptive formation tracking protocol is presented to compensate for the leader's unknown input. The proposed approach is fully distributed with no need for the global information of the topology and the upper bound of the leader's input. Based on the common Lyapunov theory, it is proved that the expected formation tracking can be realized by high-order multi-agent systems with arbitrary switching graphs. A simulation example is given to verify the effectiveness of the theoretical results.
UR - https://www.scopus.com/pages/publications/85053134458
U2 - 10.1109/ICCA.2018.8444319
DO - 10.1109/ICCA.2018.8444319
M3 - 会议稿件
AN - SCOPUS:85053134458
SN - 9781538660898
T3 - IEEE International Conference on Control and Automation, ICCA
SP - 4
EP - 9
BT - 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018
PB - IEEE Computer Society
T2 - 14th IEEE International Conference on Control and Automation, ICCA 2018
Y2 - 12 June 2018 through 15 June 2018
ER -