Robust adaptive time-varying formation control for high-order linear uncertain multi-agent systems

被引：0
|
作者：
Hua, Yongzhao [1 ]
Dong, Xiwang [1 ]
Li, Qingdong [1 ]
Ren, Zhang [1 ]
Zhang, Yuan [1 ]
机构：
[1] Beihang Univ, Sci & Technol Aircraft Control Lab, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
来源：
PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年
基金：
中国国家自然科学基金;
关键词：
Time-varying formation; Adaptive control; Robust control; Multi-agent system; UNMANNED AERIAL VEHICLES; INTERACTION TOPOLOGIES; MOBILE ROBOTS; CONSENSUS; AGENTS; DELAYS; NETWORKS; TRACKING;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Robust adaptive time-varying formation control problems for high-order linear multi-agent systems with parameter uncertainties and external disturbances are investigated. Firstly, using the adaptive updating mechanism, a fully distributed time-varying formation control protocol is proposed. The protocol is determined by each agent in a fully distributed form and does not need any global information about the interaction topology. Then, time-varying formation feasible conditions and an approach to expand the feasible formation set are presented. Furthermore, the stability of the proposed approach is proved based on the Lyapunov theory. Finally, a simulation example is given to verify the effectiveness of the theoretical results.
引用
收藏
页码：8349 / 8354
页数：6
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