Time-Varying Formation for General Linear Multiagent Systems over Directed Topologies: A Fully Distributed Adaptive Technique

Yu Zhao, Qixiu Duan, Guanghui Wen, Dong Zhang, Bohui Wang

科研成果: 期刊稿件文章同行评审

67 引用 (Scopus)

摘要

In this paper, the time-varying formation problem is studied under directed topologies. An adaptive approach is utilized to develop a fully distributed formation controller for general linear multiagent systems. To achieve distributed time-varying formations, a feasible formation set is proposed by proposing some conditions. By using adaptive techniques, the main contribution of this paper is that a fully distributed formation algorithm is designed for achieving time-varying formation under directed graphs, which relies only on the local measurements without requiring any global information. By analyzing the Lyapunov stability, the proposed fully distributed formation algorithm can ensure the multiagent systems achieving the goal of time-varying formations. To verify the theoretical results, some simulation examples are shown finally.

源语言英语
文章编号8532129
页(从-至)532-541
页数10
期刊IEEE Transactions on Systems, Man, and Cybernetics: Systems
51
1
DOI
出版状态已出版 - 1月 2021

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