Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 64, Issue 6, Pages 5014-5024Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2016.2593656
Keywords
Formation tracking control; Multi-Agent system; switching interaction topology; target enclosing; unmanned aerial vehicle (UAV)
Categories
Funding
- National Natural Science Foundation of China [61503009, 61333011, 61374034, 61174067]
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Time-varying formation tracking analysis and design problems for second-order Multi-Agent systems with switching interaction topologies are studied, where the states of the followers form a predefined time-varying formation while tracking the state of the leader. A formation tracking protocol is constructed based on the relative information of the neighboring agents. Necessary and sufficient conditions for Multi-Agent systems with switching interaction topologies to achieve time-varying formation tracking are proposed together with the formation tracking feasibility constraint based on the graph theory. An approach to design the formation tracking protocol is proposed by solving an algebraic Riccati equation, and the stability of the proposed approach is proved using the common Lyapunov stability theory. The obtained results are applied to solve the target enclosing problem of amultiquadrotor unmanned aerial vehicle (UAV) system consisting of one leader (target) quadrotor UAV and three follower quadrotor UAVs. A numerical simulation and an outdoor experiment are presented to demonstrate the effectiveness of the theoretical results.
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