The time-varying formation and tracking control of leader-following multi-agent systems

Abstract

Abstract: Considering the time-varying delay, the distributed time-varying formation and tracking control for the high-order leader-following multi-agent systems is investigated. Aiming at the linear multi-agent systems, the observer-based time-varying formation and tracking protocols are designed. By model transformation, the formation and tracking control problem is transformed into the stability problem of error systems. Then, by using graph theory and Lyapunov theory, the sufficient conditions that the system realizes time-varying formation and tracking control are presented in the form of LMI. In addition, it is pointed out that the time-varying delay does not affect the formation reference function. Finally, the simulation results show that the designed protocols can make followers form the desired time-varying formation, and track the leader’s trajectory.

Key words: leader-following multi-agent systems, time-varying formation, tracking control, formation reference function

CLC Number:

TP273

HAN Na-ni, ZHAO Li. The time-varying formation and tracking control of leader-following multi-agent systems[J]. Journal of Lanzhou University of Technology, 2023, 49(2): 88-95.

References

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