Distributed Time-Varying Output Formation Control for General Linear Multiagent Systems With Directed Topology
Distributed Time-Varying Output Formation Control for General Linear Multiagent Systems With Directed Topology
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DOI：
10.1109/tcns.2018.2863047
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发表时间：
2019-06
影响因子：
4.2
通讯作者：
Rui Wang;Xiwang Dong;Qingdong Li;Z. Ren
中科院分区：
文献类型：
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作者：
Rui Wang;Xiwang Dong;Qingdong Li;Z. Ren
针对具有有向通信拓扑结构的一般线性多智能体系统，采用自适应输出反馈方法研究了分布式时变输出形成（TVOF）控制问题。与已有的编队控制方法相比，该方法不需要全局信息，通过输出反馈就能实现预定义的TVOF。首先，通过动态输出反馈信息和序列观测器构造自适应输出形成控制器。通过输出形成分解和可观测性分解，将分布式TVOF控制问题转化为镇定问题。然后，提出了一种分布式算法，以确定在自适应输出形成控制器的参数独立的全局信息的有向通信拓扑。给出了一个可行的TVOF集。基于李雅普诺夫理论证明了算法的稳定性。最后，通过仿真实例验证了所得结果的有效性.
This paper addresses distributed time-varying output formation (TVOF) control problems using an adaptive output-feedback approach for general linear multiagent systems with directed communication topology. Compared with the previous work on formation control, the multiagent system can achieve a predefined TVOF via output feedback without using the global information about the directed communication topology. First, an adaptive output formation controller is constructed via dynamic output-feedback information and sequential observers. Through the output formation decomposition and observability decomposition, the distributed TVOF control problems are transformed into stabilization problems. Then, a distributed algorithm is proposed to determine the parameters in the adaptive output formation controller independent of the global information of the directed communication topology. A feasible TVOF set is given. Moreover, the stability of the proposed algorithm is proved based on the Lyapunov theory. Finally, simulation examples are presented to demonstrate the effectiveness of the obtained results.