Robust adaptive time-varying formation control for high-order linear uncertain multi-agent systems
作者单位：School of Automation Science and Electrical EngineeringScience and Technology on Aircraft Control LaboratoryBeihang University
会议名称：《第36届中国控制会议》
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 08[工学] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）]
基 金：supported by the National Natural Science Foundation of China under Grants 61503009,61333011 and 61421063 the Aeronautical Science Foundation of China under Grant 2016ZA51005 the Special Research Project of Chinese Civil Aircraft the Fundamental Research Funds for the Central Universities under Grant YWF-14-RSC-101
关 键 词：Time-varying formation Adaptive control Robust control Multi-agent system
摘 要：Robust adaptive time-varying formation control problems for high-order linear multi-agent systems with parameter uncertainties and external disturbances are ***,using the adaptive updating mechanism,a fully distributed timevarying formation control protocol is *** protocol is determined by each agent in a fully distributed form and does not need any global information about the interaction ***,time-varying formation feasible conditions and an approach to expand the feasible formation set are ***,the stability of the proposed approach is proved based on the Lyapunov ***,a simulation example is given to verify the effectiveness of the theoretical results.