TY - GEN
T1 - Time-varying group formation-tracking control for heterogeneous multi-agent systems with switching topologies and time-varying delays
AU - Zhou, Shiyu
AU - Wei, Xiaobao
AU - Dong, Xiwang
AU - Hua, Yongzhao
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2021 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2021/7/26
Y1 - 2021/7/26
N2 - Group formation-tracking problem for heterogeneous multi-agent systems (HMASs) with both switching networks and communication delays is investigated in this paper. In order to achieve different tasks, the agents are classified into various groups. The followers are allowed to realize the formation and track the trajectory of the leader in each group. Firstly, by utilizing the consensus control, an observer is proposed to estimate the state of the leader. Then, an observer-based control protocol is put forward to solve the group formation-tracking problem with both communication delays and switching networks. Moreover, an algorithm to determine the gain feedbacks is demonstrated, in the meantime, the observer's error systems as well as the group formation-tracking error systems are proved to be convergent. Finally, an example in the simulation prat is presented to verify the theoretical results.
AB - Group formation-tracking problem for heterogeneous multi-agent systems (HMASs) with both switching networks and communication delays is investigated in this paper. In order to achieve different tasks, the agents are classified into various groups. The followers are allowed to realize the formation and track the trajectory of the leader in each group. Firstly, by utilizing the consensus control, an observer is proposed to estimate the state of the leader. Then, an observer-based control protocol is put forward to solve the group formation-tracking problem with both communication delays and switching networks. Moreover, an algorithm to determine the gain feedbacks is demonstrated, in the meantime, the observer's error systems as well as the group formation-tracking error systems are proved to be convergent. Finally, an example in the simulation prat is presented to verify the theoretical results.
KW - general linear multi-agent systems
KW - Group formation-tracking problem
KW - switching topologies
KW - time-varying delays
UR - https://www.scopus.com/pages/publications/85117314672
U2 - 10.23919/CCC52363.2021.9550486
DO - 10.23919/CCC52363.2021.9550486
M3 - 会议稿件
AN - SCOPUS:85117314672
T3 - Chinese Control Conference, CCC
SP - 194
EP - 199
BT - Proceedings of the 40th Chinese Control Conference, CCC 2021
A2 - Peng, Chen
A2 - Sun, Jian
PB - IEEE Computer Society
T2 - 40th Chinese Control Conference, CCC 2021
Y2 - 26 July 2021 through 28 July 2021
ER -