@inproceedings{feb500aa43364796a817d911bea2c2b7,
title = "Time-varying formation tracking for general linear multi-agent systems with multiple leaders and input saturation",
abstract = "This paper studies the time-varying formation tracking problem for general linear multi-agent systems, in which there exist multiple leaders and the control input of each agent is bounded. Followers are classified into well-informed ones and uninformed ones in order to determine the unique convex combination of states of leaders as the formation reference. Time-varying formation of followers is predefined by a continuous differential offset vector with respect to the formation reference. A distributed formation tracking protocol is constructed using neighboring information and a low-gain feedback method is adopted to deal with input saturation. Sufficient conditions for the multi-agent system to achieve time-varying formation tracking are derived as well as the formation feasibility constraint. A bisection method is further proposed to determine the feasible low gain parameter without using global information. Finally, a numerical example is presented to verify the effectiveness of the theoretical results.",
keywords = "Input saturation, Low-gain feedback, Multiple leaders, Time-varying formation tracking",
author = "Fei Lui and Xiwang Dong and Qingdong Li and Zhang Ren",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018 ; Conference date: 18-05-2018 Through 20-05-2018",
year = "2018",
month = jul,
day = "6",
doi = "10.1109/YAC.2018.8406372",
language = "英语",
series = "Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "202--207",
booktitle = "Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018",
address = "美国",
}