Adaptive output feedback time-varying formation tracking of multi-agent system with a leader of unknown input

IF 2.7 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Asian Journal of Control Pub Date : 2024-09-19 DOI:10.1002/asjc.3499

Jie Wu, Xiaoyi Zhang, Xisheng Zhan, Xiushan Cai

引用次数: 0

Abstract

This paper researches the time-varying formation tracking (TVFT) problem of linear multi-agent systems (MASs). By designing a compensator, the problem of time-varying formation can be considered as the output regulation problem. Thereby, the distributed output feedback controller combined with an adaptive technique is proposed. With this controller, follower agents achieve the desired time-varying formation and follow the trajectory of the leader agent. Furthermore, extending the designed controller to the case where the leader agent equips with unknown control input. Using Lyapunov stability theory, it is demonstrated that under proper conditions the given protocol is implementable. Simulation example is presented at the end of the paper to illustrate the effectiveness of designed control mechanism.

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具有未知输入的领导者的多代理系统的自适应输出反馈时变编队跟踪

本文研究了线性多代理系统（MAS）的时变编队跟踪（TVFT）问题。通过设计补偿器，可将时变编队问题视为输出调节问题。因此，我们提出了与自适应技术相结合的分布式输出反馈控制器。有了这个控制器，跟随者就能实现所需的时变编队，并跟随领导者的轨迹。此外，将所设计的控制器扩展到领导者配备未知控制输入的情况。利用 Lyapunov 稳定性理论证明，在适当的条件下，给定的协议是可以实现的。本文最后还介绍了仿真实例，以说明所设计的控制机制的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Asian Journal of Control 工程技术-自动化与控制系统

CiteScore

4.80

自引率

25.00%

发文量

253

审稿时长

7.2 months

期刊介绍： The Asian Journal of Control, an Asian Control Association (ACA) and Chinese Automatic Control Society (CACS) affiliated journal, is the first international journal originating from the Asia Pacific region. The Asian Journal of Control publishes papers on original theoretical and practical research and developments in the areas of control, involving all facets of control theory and its application. Published six times a year, the Journal aims to be a key platform for control communities throughout the world. The Journal provides a forum where control researchers and practitioners can exchange knowledge and experiences on the latest advances in the control areas, and plays an educational role for students and experienced researchers in other disciplines interested in this continually growing field. The scope of the journal is extensive. Topics include: The theory and design of control systems and components, encompassing: Robust and distributed control using geometric, optimal, stochastic and nonlinear methods Game theory and state estimation Adaptive control, including neural networks, learning, parameter estimation and system fault detection Artificial intelligence, fuzzy and expert systems Hierarchical and man-machine systems All parts of systems engineering which consider the reliability of components and systems Emerging application areas, such as: Robotics Mechatronics Computers for computer-aided design, manufacturing, and control of various industrial processes Space vehicles and aircraft, ships, and traffic Biomedical systems National economies Power systems Agriculture Natural resources.