Multiple Transformation Matrix-Based Adaptive Projective Vortex Formation Tracking for Multiagent Systems With a...

Area of Science:

• Control Engineering
• Systems Science
• Robotics

Background:

• Multiagent systems (MASs) present complex coordination challenges.
• Distributed control is crucial for MASs where global information is unavailable.
• Projective vortex formation tracking (PVFT) is an advanced control objective for MASs.

Purpose of the Study:

• To develop a distributed adaptive observer for capturing leader signals in MASs.
• To propose a novel distributed PVFT protocol for linear MASs on directed graphs.
• To address the challenge of unknown leader input and its upper bound.

Main Methods:

• Design of a distributed adaptive observer using projection matrices.
• Development of a distributed PVFT protocol incorporating local observers and coordinate coupling matrices.
• Implementation of adaptive update mechanisms and nonlinear functions to handle unknown leader inputs.

Main Results:

• The proposed protocol enables linear MASs to achieve PVFT.
• The algorithm's effectiveness is proven through estimation, aggregation, and rotation stages.
• Systematic analysis of parameter effects on aggregation and rotation dynamics.

Conclusions:

• The developed method reliably achieves PVFT in linear MASs under directed graph topologies.
• The adaptive observer and control protocol effectively handle unknown leader information.
• Simulation examples validate the robustness and reliability of the proposed approach.