Finite-Time Time-Varying Formation Tracking for Heterogeneous Nonlinear Multiagent Systems Using Adaptive Output
IEEE Transactions on Cybernetics
|April 7, 2023
Summary
This study addresses finite-time output time-varying formation tracking for nonlinear multiagent systems with unknown leader input. A novel controller ensures follower outputs track the leader
Area of Science:
- Control Theory
- Robotics
- Systems Engineering
Background:
- Investigates the finite-time output time-varying formation tracking (TVFT) problem in heterogeneous nonlinear multiagent systems (MAS). Addresses challenges posed by nonidentical agent dynamics and unknown leader input.
- Highlights limitations in previous studies, such as the requirement for agents to know leader's system matrices and unknown control input bounds.
Purpose of the Study:
- To achieve finite-time output TVFT for heterogeneous nonlinear MASs where followers' outputs track the leader's output and achieve a desired formation.
- To develop a distributed controller that does not require knowledge of the leader's system matrices or bounds on its unknown control input.
Main Methods:
- Constructs a finite-time observer using neighboring information to estimate the leader's state, system matrices, and compensate for unknown input.
- Proposes a novel finite-time distributed output TVFT controller using adaptive output regulation and coordinate transformation, eliminating the need for the generalized inverse of the followers' input matrix.
- Employs Lyapunov and finite-time stability theory to prove the controller's effectiveness.
Main Results:
- Successfully estimates leader's state, system matrices, and compensates for unknown input using a novel finite-time observer.
- Develops a distributed controller that achieves finite-time output TVFT without requiring prior knowledge of leader's system parameters or input bounds.
- Simulation results validate the proposed approach's efficacy in achieving the desired finite-time formation tracking.
Conclusions:
- The proposed finite-time observer and distributed controller effectively solve the TVFT problem for heterogeneous nonlinear MASs.
- The method removes restrictive assumptions from prior work, enhancing applicability to real-world systems.
- The study demonstrates robust finite-time formation tracking capabilities through theoretical proofs and simulations.
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