Prescribed-time Bipartite Formation Tracking Control of Heterogeneous Networked Agent Systems Over Signed Graph
作者单位：School of Aeronautics and Astronautics University of Electronic Science and Technology of China Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province National Laboratory on Adaptive Optics
会议名称：《第35届中国过程控制会议》
会议日期：2024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：Bipartite formation Prescribed-time Heterogeneous networked agent systems Signed graph
摘 要：This paper addresses the bipartite formation tracking control problem of heterogeneous networked agent *** interactions among agents are described by a signed graph,where cooperation and competition coexist. Theoretically, a prescribed-time control scheme is designed for follower agents to achieve bipartite formation tracking. At first, the output regulation equation is employed to establish a mapping between state and output. Subsequently, we model the issue as an error stabilization problem, which facilitates the design of the controller. Secondly, by generating the time-scaling function, a prescribed-time formation tracking controller is designed. Then,the stability of the closed-loop system is proven by utilizing the Lyapunov theorem. Finally, the effectiveness of the proposed prescribed-time bipartite formation tracking controller is verified by some simulation results.