Distributed Output Formation Control for Linear Swarm Systems with Time-Varying Formation and Directed Topology

Rui Wang; Xiwang Dong; Wei Xiao; Qingdong Li; Zhang Ren

doi:10.1109/ICCA.2018.8444288

Distributed Output Formation Control for Linear Swarm Systems with Time-Varying Formation and Directed Topology

Rui Wang
, Xiwang Dong
, Wei Xiao
, Qingdong Li
, Zhang Ren

Beihang University

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

Abstract

Distributed time-varying output formation (TVOF) control problems are addressed in this paper using an adaptive output-feedback approach for general linear swarm systems with directed interaction topology. Compared with the previous work on formation control, a desired TVOF can be achieved by the swarm system without using any global information about the interaction topology. Firstly, an adaptive formation controller is constructed via dynamic output feedback information and sequential observers. Then,a distributed algorithm is proposed to determine the parameters in the adaptive formation controller. A feasible TVOF set is given. Moreover, the stability of the proposed distributed algorithm is proved. Finally, a simulation example is presented to demonstrate the effectiveness of the obtained results.

Original language	English
Title of host publication	2018 IEEE 14th International Conference on Control and Automation, ICCA 2018
Publisher	IEEE Computer Society
Pages	361-366
Number of pages	6
ISBN (Print)	9781538660898
DOIs	https://doi.org/10.1109/ICCA.2018.8444288
State	Published - 21 Aug 2018
Event	14th IEEE International Conference on Control and Automation, ICCA 2018 - Anchorage, United States Duration: 12 Jun 2018 → 15 Jun 2018

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
Volume	2018-June
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	14th IEEE International Conference on Control and Automation, ICCA 2018
Country/Territory	United States
City	Anchorage
Period	12/06/18 → 15/06/18

Access to Document

10.1109/ICCA.2018.8444288

Cite this

Wang, R., Dong, X., Xiao, W., Li, Q., & Ren, Z. (2018). Distributed Output Formation Control for Linear Swarm Systems with Time-Varying Formation and Directed Topology. In 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018 (pp. 361-366). Article 8444288 (IEEE International Conference on Control and Automation, ICCA; Vol. 2018-June). IEEE Computer Society. https://doi.org/10.1109/ICCA.2018.8444288

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title = "Distributed Output Formation Control for Linear Swarm Systems with Time-Varying Formation and Directed Topology",

abstract = "Distributed time-varying output formation (TVOF) control problems are addressed in this paper using an adaptive output-feedback approach for general linear swarm systems with directed interaction topology. Compared with the previous work on formation control, a desired TVOF can be achieved by the swarm system without using any global information about the interaction topology. Firstly, an adaptive formation controller is constructed via dynamic output feedback information and sequential observers. Then,a distributed algorithm is proposed to determine the parameters in the adaptive formation controller. A feasible TVOF set is given. Moreover, the stability of the proposed distributed algorithm is proved. Finally, a simulation example is presented to demonstrate the effectiveness of the obtained results.",

author = "Rui Wang and Xiwang Dong and Wei Xiao and Qingdong Li and Zhang Ren",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 14th IEEE International Conference on Control and Automation, ICCA 2018 ; Conference date: 12-06-2018 Through 15-06-2018",

year = "2018",

month = aug,

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doi = "10.1109/ICCA.2018.8444288",

language = "英语",

isbn = "9781538660898",

series = "IEEE International Conference on Control and Automation, ICCA",

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Wang, R, Dong, X, Xiao, W, Li, Q & Ren, Z 2018, Distributed Output Formation Control for Linear Swarm Systems with Time-Varying Formation and Directed Topology. in 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018., 8444288, IEEE International Conference on Control and Automation, ICCA, vol. 2018-June, IEEE Computer Society, pp. 361-366, 14th IEEE International Conference on Control and Automation, ICCA 2018, Anchorage, United States, 12/06/18. https://doi.org/10.1109/ICCA.2018.8444288

Distributed Output Formation Control for Linear Swarm Systems with Time-Varying Formation and Directed Topology. / Wang, Rui; Dong, Xiwang; Xiao, Wei et al.
2018 IEEE 14th International Conference on Control and Automation, ICCA 2018. IEEE Computer Society, 2018. p. 361-366 8444288 (IEEE International Conference on Control and Automation, ICCA; Vol. 2018-June).

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

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T1 - Distributed Output Formation Control for Linear Swarm Systems with Time-Varying Formation and Directed Topology

AU - Wang, Rui

AU - Dong, Xiwang

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AU - Li, Qingdong

AU - Ren, Zhang

PY - 2018/8/21

Y1 - 2018/8/21

N2 - Distributed time-varying output formation (TVOF) control problems are addressed in this paper using an adaptive output-feedback approach for general linear swarm systems with directed interaction topology. Compared with the previous work on formation control, a desired TVOF can be achieved by the swarm system without using any global information about the interaction topology. Firstly, an adaptive formation controller is constructed via dynamic output feedback information and sequential observers. Then,a distributed algorithm is proposed to determine the parameters in the adaptive formation controller. A feasible TVOF set is given. Moreover, the stability of the proposed distributed algorithm is proved. Finally, a simulation example is presented to demonstrate the effectiveness of the obtained results.

AB - Distributed time-varying output formation (TVOF) control problems are addressed in this paper using an adaptive output-feedback approach for general linear swarm systems with directed interaction topology. Compared with the previous work on formation control, a desired TVOF can be achieved by the swarm system without using any global information about the interaction topology. Firstly, an adaptive formation controller is constructed via dynamic output feedback information and sequential observers. Then,a distributed algorithm is proposed to determine the parameters in the adaptive formation controller. A feasible TVOF set is given. Moreover, the stability of the proposed distributed algorithm is proved. Finally, a simulation example is presented to demonstrate the effectiveness of the obtained results.

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SN - 9781538660898

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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

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Wang R, Dong X, Xiao W, Li Q , Ren Z. Distributed Output Formation Control for Linear Swarm Systems with Time-Varying Formation and Directed Topology. In 2018 IEEE 14th International Conference on Control and Automation, ICCA 2018. IEEE Computer Society. 2018. p. 361-366. 8444288. (IEEE International Conference on Control and Automation, ICCA). doi: 10.1109/ICCA.2018.8444288

Distributed Output Formation Control for Linear Swarm Systems with Time-Varying Formation and Directed Topology

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