Time-varying group formation tracking control for uncertain nonlinear high-order fully actuated multiagent systems

Tan, Chong1; Zhang, Teng1; Li, Yanjiang1; Liu, Guo-Ping2

2024-10-01

10.1007/s11071-024-10327-1

NONLINEAR DYNAMICS   影响因子和分区

0924-090X

1573-269X

The issue of time-varying group formation tracking (TVGFT) control for heterogeneous nonlinear multiagent systems (MASs) with unknown dynamics is studied in the framework of high-order fully actuated system approaches. To achieve the desired TVGFT, two kinds of distributed control protocols are designed, which rely on robust and adaptive control strategies, respectively. The protocols consist of two components: The first is that the nonlinearities of MASs are eliminated by state feedback and the poles are configured in the light of performance requirements; the second is that robust or adaptive control strategy is employed to compensate for uncertainties, depending on the characteristics of the uncertain dynamics. Based on Lyapunov stability theory, the sufficient conditions to achieve TVGFT under two proposed control protocols are provided and proved, and the decay rates of TVGFT error associated with these protocols are further analyzed. Besides, each agent can possess an equivalent status and play the role of either a leader or a follower according to the actual need, and a general procedure is given to label the agents. Simulation results illustrate the effectiveness of theoretical results.

Nonlinear multiagent systems Time-varying group formation tracking High-order fully actuated systems Robust control Adaptive control

SCI

英语

其他

Natural Science Foundation of Heilongjiang Province of China[LH2022F033]

Engineering ; Mechanics

Engineering, Mechanical ; Mechanics

WOS:001322466800001

SPRINGER

Web of Science

1.Harbin Univ Sci & Technol, Sch Automat, Harbin 150080, Peoples R China
2.Southern Univ Sci & Technol, Ctr Control Sci & Technol, Shenzhen 518055, Peoples R China

Tan, Chong,Zhang, Teng,Li, Yanjiang,et al. Time-varying group formation tracking control for uncertain nonlinear high-order fully actuated multiagent systems[J]. NONLINEAR DYNAMICS,2024.

Tan, Chong,Zhang, Teng,Li, Yanjiang,&Liu, Guo-Ping.(2024).Time-varying group formation tracking control for uncertain nonlinear high-order fully actuated multiagent systems.NONLINEAR DYNAMICS.

Tan, Chong,et al."Time-varying group formation tracking control for uncertain nonlinear high-order fully actuated multiagent systems".NONLINEAR DYNAMICS (2024).