Affine formation maneuver tracking control of multiple second-order agents with time-varying delays
Affine formation maneuver tracking control of multiple second-order agents with time-varying delays作者机构:School of Aerospace Engineering Xiamen University Department of Electrical and Computer Engineering National University of Singapore Department of Control Science and Engineering Harbin Institute of Technology
出 版 物:《Science China(Technological Sciences)》 (中国科学(技术科学英文版))
年 卷 期:2019年第62卷第4期
页 面:665-676页
核心收录:
基 金:supported by the National Natural Science Foundation of China(Grant No.61673327) the China Scholarship Council(Grant No.201606310153) the Aviation Science Foundation of China(Grant No.20160168001)
主 题:formation control affine transformation multi-agent systems second-order dynamics time-varying delays
摘 要:This paper considers an affine maneuver tracking control problem for leader-follower type second-order multi-agent systems in the presence of time-varying delays, where the interaction topology is directed. Using the property of the affine transformation,this paper gives the sufficient and necessary conditions of achieving the affine localizability and extends it to the second-order condition. Under the(n + 1)-reachable condition of the given n-dimensional nominal formation with n + 1 leaders, a formation of agents can be reshaped in arbitrary dimension by only controlling these leaders. When the neighboring positions and velocities are available, a formation maneuver tracking control protocol with time-varying delays is constructed with the form of linear systems, where the tracking errors of the followers can be specified. Based on Lyapunov-Krasovskii stability theory, sufficient conditions to realize affine maneuvers are proposed and proved, and the unknown control gain matrix can be solved only by four linear matrix inequalities independent of the number of agents. Finally, corresponding simulations are carried out to verify the theoretical results, which show that these followers can track the time-varying references accurately and continuously.