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RBDT: A Computerized Task System based in Transposition for the Continuous Analysis of Relational Behavior Dynamics in Humans

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Adaptive Bipartite Time-Varying Output Formation Control for Multiagent Systems on Signed Directed Graphs.

Chenhang Yan, Wei Zhang, Housheng Su

IEEE Transactions on Cybernetics

|March 11, 2021

Summary

This study introduces an adaptive protocol for bipartite time-varying formation (BTVF) tracking in multiagent systems (MASs). The method achieves leader-following BTVF tracking using only local output feedback, even with unknown leader input.

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Area of Science:

Control Theory
Networked Systems
Robotics

Background:

Multiagent systems (MASs) face challenges in coordinated tasks like formation tracking.
Bipartite time-varying formation (BTVF) tracking requires complex coordination between antagonistic subgroups.
Leader-following control in MASs often relies on global information or complex protocols.

Purpose of the Study:

To develop an adaptive nonsmooth protocol for BTVF tracking in linear MASs.
To enable tracking with a leader exhibiting unknown input.
To achieve BTVF tracking on signed digraphs using only local output feedback.

Main Methods:

An adaptive nonsmooth control protocol is proposed.
The protocol utilizes local output feedback, avoiding Laplacian matrix eigenvalue analysis.
Lyapunov methods are employed for convergence analysis.

Main Results:

BTVF tracking is achieved for MASs with a structurally balanced interaction network containing a spanning tree.
The proposed scheme successfully handles a leader with bounded, unknown input.
Numerical simulations validate the performance of the adaptive protocol.

Conclusions:

The developed adaptive nonsmooth protocol effectively enables leader-following BTVF tracking in linear MASs.
The reliance on local output feedback simplifies implementation and enhances robustness.
The findings are applicable to coordinated control problems in networked systems.