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Adaptive Time-Varying Formation Tracking Control for Multiagent Systems With Nonzero Leader Input by Intermittent
IEEE Transactions on Cybernetics
|May 6, 2022
Summary
This study addresses the time-varying formation (TVF) tracking problem in linear multiagent systems (MASs) using event-triggered adaptive control. The proposed distributed strategy reduces communication load while ensuring followers achieve the preset TVF without Zeno behavior.
Area of Science:
- Control Theory
- Systems Engineering
- Robotics
Background:
- Multiagent systems (MASs) face challenges in coordinated state tracking.
- Achieving time-varying formations (TVF) requires efficient communication strategies.
Purpose of the Study:
- To investigate the TVF tracking problem for linear MASs.
- To develop a distributed adaptive control strategy with reduced communication.
- To ensure follower agents reach a preset TVF while tracking the leader.
Main Methods:
- Event-triggered adaptive control strategy based on node-event and edge-event triggers.
- Intermittent information transmission from the leader and asynchronous transmission from followers.
- Analysis to ensure no Zeno behavior in the multiagent systems.
Main Results:
- A fully distributed control strategy is proposed, scalable to any network size.
- Communication load is significantly alleviated through event-triggered mechanisms.
- Theoretical results are validated with a practical example.
Conclusions:
- The developed event-triggered adaptive control effectively solves the TVF tracking problem in linear MASs.
- The strategy enhances communication efficiency and system scalability.
- The approach is robust and avoids Zeno behavior, proving its practical applicability.
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