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Finite-time Prescribed Performance time-varying formation control for Second-Order Multi-Agent Systems With Non-Strict Feedback Based on a Neural Network Observer

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1039-1050页

作者： Chi Ma Dianbiao Dong the School of Mechanical Engineering Northwestern Polytechnical UniversityXi’an 710072China

This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown *** eliminate nonlinearities,neural networks are applied to approximate the inherent dynamics of the *** addition,due to the limitations of the actual working conditions,each follower agent can only obtain the locally measurable partial state information of the leader *** address this problem,a neural network state observer based on the leader state information is ***,a finite-time prescribed performance adaptive output feedback control strategy is proposed by restricting the sliding mode surface to a prescribed region,which ensures that the closed-loop system has practical finite-time stability and that formation errors of the multi-agent systems converge to the prescribed performance bound in finite ***,a numerical simulation is provided to demonstrate the practicality and effectiveness of the developed algorithm.

关键词： Finite-time control multi-agent systems neural network prescribed performance control time-varying formation control

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time-varying formation control for swarm systems with communication constraints

Time-varying formation control for swarm systems with commun...

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第37届中国控制会议

作者： Le Wang Xinzhong Han Qing Chen Jianxiang Xi Guangbin Liu High-Tech Institute of Xi'an

time-varying formation analysis and design problems for high-order swarm systems with communication constraints are investigated. Firstly, a time-varying formation control protocol is proposed only using intermittent relative local information. Then, sufficient conditions for time-varying formation analysis and design are given by linear matrix inequality ***, an explicit expression of the formation center function is presented to describe the movement trajectory of the whole formation. When the desired time-varying formation satisfies the formation feasibility condition, swarm systems with communication constraints can achieve time-varying formation by designing the formation control protocol if the nominal coverage rate is larger than a positive threshold. Finally, a numerical simulation is provided to demonstrate theoretical results.

关键词： Swarm system High order time-varying formation control Communication constraint

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Adaptive Output-feedback time-varying formation Protocol Design for Linear Swarm Systems with Directed Topology 36

Adaptive Output-feedback Time-varying Formation Protocol Des...

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第36届中国控制会议

作者： WANG Rui DONG Xiwang LI Qingdong QIN Zekui REN Zhang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control LaboratoryBeihang University

ISBN: (纸本)9781538629185

This paper studies output-feedback time-varying formation（TVF） protocol design problems for general linear swarm systems with directed interaction *** adding extra observers,an adaptive output-feedback TVF protocol is constructed for general linear swarm systems with directed interaction topology to achieve a given ***,a fully distributed algorithm is proposed based on only local output information of each agent and its ***,a sufficient condition for achieving the desired TVF under the designed adaptive output-feedback TVF protocol is derived based on the Lyapunov ***,a simulation example is presented to illustrate the theoretical results.

关键词： time-varying formation control Distributed adaptive protocol Directed interaction topology Output feedback information Swarm systems

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Adaptive Target Tracking with time-varying formation Radius

Adaptive Target Tracking with Time-Varying Formation Radius

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第37届中国控制会议

作者： Xiaoqian Wei Jianying Yang State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of EngineeringPeking University

This paper introduces a novel adaptive guidance law to address active target tracking of multiple agents system, where multiple followers construct a circular formation with time-varying formation radius. The relative ranges between multiple followers and a target, the follower-target relative velocity components along the line-of-sight and the follower-target relative velocity components normal to the line-of-sight can be regulated to early-designed ones by adaptive parameters of the guidance law, while all followers coordinate their motion to maintain a circular formation whose center pursues the active target. Numerical simulations with the comparisons demonstrate the effectiveness and the superiority of the proposed method.

关键词： Active Target Tracking Adaptive control time-varying formation control

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