Journal
IEEE ACCESS
Volume 9, Issue -, Pages 52698-52707Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2021.3068966
Keywords
Protocols; Topology; Vehicle dynamics; Time-varying systems; Robustness; Multi-agent systems; Consensus control; Heterogeneous; multi-agent systems; distributed control; adaptive control; bipartite time-varying formation
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This paper investigates the time-varying formation control problem for a class of heterogeneous unknown nonlinear multi-agent systems and proposes a distributed adaptive proportional-integral protocol to ensure the convergence of formation error, along with some conditions for choosing suitable control parameters. Simulation results demonstrate the effectiveness of the proposed protocol.
This paper investigates the bipartite time-varying formation control problem for a class of heterogeneous unknown nonlinear multi-agent systems. This bipartite time-varying formation is composed of two sub-formations whose relationship is opposite. By parameterization the unknown nonlinear items of all agents, a distributed adaptive proportional-integral protocol is presented under undirected signed topology to ensure the convergence of the bipartite time-varying formation error. Some sufficient conditions for choosing suitable control parameters are given. In the case of systems with external time-varying but bounded disturbances, the uniformly ultimate boundedness of the formation error and its integration can be guaranteed by the proposed control protocol. A simulative example is provided to illustrate the effectiveness of the proposed protocol.
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