A unified framework of fully distributed adaptive output time-varying formation control for linear multi-agent systems: an observer viewpoint
This work provides a comprehensive solution to time-varying formation control for linear multi-agent systems, but it is incremental as it extends existing adaptive output methods to more general scenarios without introducing fundamentally new concepts.
This paper proposes a unified framework for fully distributed adaptive output time-varying formation control in linear multi-agent systems, addressing undirected and directed topologies, stabilization and tracking, and leaders with bounded input. The approach requires only relative output measurements (or introspective states for directed tracking) and no global information, with simulations on nonholonomic mobile vehicles validating the results.
This paper presents a unified framework of time-varying formation (TVF) design for general linear multi-agent systems (MAS) based on an observer viewpoint from undirected to directed topology, from stabilization to tracking and from a leader without input to a one with bounded input. The followers can form a TVF shape which is specified by piecewise continuously differential vectors. The leader's trajectory, which is available to only a subset of followers, is also time-varying. For the undirected formation tracking and directed formation stabilization cases, only the relative output measurements of neighbors are required to design control protocols; for the directed formation tracking case, the agents need to be introspective (i.e. agents have partial knowledge of their own states) and the output measurements are required. Furthermore, considering the real applications, the leader with bounded input case is studied. One main contribution of this paper is that fully distributed adaptive output protocols, which require no global information of communication topology and do not need the absolute or relative state information, are proposed to solve the TVF control problem. Numerical simulations including an application to nonholonomic mobile vehicles are provided to verify the theoretical results.