Distributed adaptive finite-time time-varying group formation tracking for high-order multi-agent systems with directed topologies
作者单位:School of Automation Science and Electrical Engineering Beihang University Department of Aerospace Engineering University of Bristol Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University
会议名称:《第三十九届中国控制会议》
会议日期:2020年
学科分类:0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程]
关 键 词:TVGF tracking finite-time control MASs adaptive integral sliding mode control
摘 要:This paper investigates finite-time time-varying group formation(TVGF) tracking control problems for high-order multi-agent systems(MASs) with directed topologies. Firstly, the agents are classified into three types, i.e., the virtual leader, the group leader and the follower. A virtual leader is used to control the macroscopic movement of MASs. Subgroups can be interacted and coordinated with each other by the communication among group leaders. Secondly, a novel finite-time group formation tracking protocol using only the neighboring interaction is constructed based on adaptive integral sliding mode control. Then sufficient conditions for MASs with unknown external disturbances and directed topologies to realize finite-time TVGF tracking are derived using Lyapunov theory. Finally, a numerical simulation example is performed to demonstrate the effectiveness of theoretical results.