Time-varying formation tracking for multiple dynamic targets: Finite- And fixed-time convergence

Wenfei Zhang, Yu Zhao, Wangli He, Guanghui Wen

Research output: Contribution to journalArticlepeer-review

37 Scopus citations

Abstract

This brief considers the finite-time and fixed-time time-varying formation tracking (TVFT) problem for multiple dynamic targets. Without requiring at least one well-informed agent to obtain the information of all the targets, each agent is allowed to explore any number of targets according to its own detection capability. Based on local interactions, a couple of distributed TVFT control protocols are proposed for agents to achieve a desired time-varying formation while tracking the convex combination of the states of multiple targets, in a finite and fixed settling time, respectively. Besides, by introducing time-varying parameter designs, the positions and velocities of the targets are free without any constraints. Finally, a numerical example is given to validate the obtained theoretical results.

Original languageEnglish
Article number9200681
Pages (from-to)1323-1327
Number of pages5
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
Volume68
Issue number4
DOIs
StatePublished - Apr 2021

Keywords

  • Finite time
  • Fixed time
  • Multi-agent system
  • Multiple dynamic targets
  • Time-varying formation tracking

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