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
N1 - Publisher Copyright:
© 2017 Technical Committee on Control Theory, CAA.
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 -