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Distributed Time-Varying Formation Robust Tracking for General Linear Multiagent Systems With Parameter Uncertainties
IEEE Transactions on Cybernetics
|May 26, 2017
Summary
This study addresses robust tracking for multiagent systems with unknown leader inputs and uncertainties. A novel distributed protocol ensures followers achieve time-varying formations and track the leader despite disturbances.
Area of Science:
- Control Systems Engineering
- Robotics
- Networked Systems
Background:
- Multiagent systems require coordinated control for complex tasks.
- Robust tracking is crucial in systems with uncertainties and unknown inputs.
- Time-varying formations add complexity to coordinated control problems.
Purpose of the Study:
- To investigate time-varying formation robust tracking for high-order linear multiagent systems.
- To address challenges posed by unknown leader control input, parameter uncertainties, and external disturbances.
- To develop a distributed control protocol for simultaneous formation achievement and leader state trajectory tracking.
Main Methods:
- A totally distributed time-varying formation robust tracking protocol is proposed.
- An adaptive updating mechanism is employed, eliminating the need for global topology knowledge or bound estimations.
- A four-step algorithm determines control parameters and provides feasible conditions for formation tracking.
Main Results:
- The proposed protocol enables followers to achieve expected time-varying formations and track the leader's state trajectory.
- The adaptive mechanism handles heterogeneous parameter uncertainties, external disturbances, and unknown leader input.
- Lyapunov-like analysis confirms asymptotic convergence of the formation tracking error to zero.
Conclusions:
- The developed protocol effectively achieves robust time-varying formation tracking in complex multiagent systems.
- The method is applicable even with unknown system parameters and communication uncertainties.
- Simulation examples validate the theoretical findings and the protocol's practical effectiveness.
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