Distributed Adaptive Formation Control of Heterogeneous Multi-agent Systems with Unknown System Parameters
作者单位：School of Automation Science and Electrical Engineering Beihang University School of Computer Science Northwestern Polytechnical University
会议名称：《第43届中国控制会议》
会议日期：1000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：Distributed adaptive control multiple unmanned aerial vehicles(UAVs) unmanned ground vehicles(UGVs) formation control
摘 要：In this paper, we consider the leaderless formation control problem for heterogeneous multi-agent systems(MASs)consisting of unmanned aerial vehicles(UAVs) and unmanned ground vehicles(UGVs) with unknown system parameters. In order to solve the problem caused by nonidentical subsystem orders, a new distributed reference system is introduced in each agent, in which only the relative positions of the agents are involved. Then, a backstepping-based distributed adaptive control is proposed under directed graph condition. With the proposed control scheme, the boundedness of all the signals in the closedloop system can be ensured and the positions of heterogeneous MASs can converge to a desired formation. Finally, experimental results are provided to demonstrate the effectiveness of the proposed control scheme.