Distributed Adaptive Bipartite Time-Varying Formation Control for Heterogeneous Unknown Nonlinear Multi-Agent Systems
This paper investigates the bipartite time-varying formation control problem for a class of heterogeneous unknown nonlinear multi-agent systems. This bipartite time-varying formation is composed of two sub-formations whose relationship is opposite. By parameterization the unknown nonlinear items of...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2021-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9387323/ |
| _version_ | 1818435510299787264 |
|---|---|
| author | Weike Wang Wei Zhang Chenhang Yan Yu Fang |
| author_facet | Weike Wang Wei Zhang Chenhang Yan Yu Fang |
| author_sort | Weike Wang |
| collection | DOAJ |
| description | This paper investigates the bipartite time-varying formation control problem for a class of heterogeneous unknown nonlinear multi-agent systems. This bipartite time-varying formation is composed of two sub-formations whose relationship is opposite. By parameterization the unknown nonlinear items of all agents, a distributed adaptive proportional-integral protocol is presented under undirected signed topology to ensure the convergence of the bipartite time-varying formation error. Some sufficient conditions for choosing suitable control parameters are given. In the case of systems with external time-varying but bounded disturbances, the uniformly ultimate boundedness of the formation error and its integration can be guaranteed by the proposed control protocol. A simulative example is provided to illustrate the effectiveness of the proposed protocol. |
| first_indexed | 2024-12-14T16:54:02Z |
| format | Article |
| id | doaj.art-0fa2ba8ffb544ce6bc84f490407de2a5 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-14T16:54:02Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-0fa2ba8ffb544ce6bc84f490407de2a52022-12-21T22:53:59ZengIEEEIEEE Access2169-35362021-01-019526985270710.1109/ACCESS.2021.30689669387323Distributed Adaptive Bipartite Time-Varying Formation Control for Heterogeneous Unknown Nonlinear Multi-Agent SystemsWeike Wang0https://orcid.org/0000-0001-7701-429XWei Zhang1https://orcid.org/0000-0003-1400-8612Chenhang Yan2https://orcid.org/0000-0002-0885-8787Yu Fang3Laboratory of Intelligent Control and Robotics, Shanghai University of Engineering Science, Shanghai, ChinaLaboratory of Intelligent Control and Robotics, Shanghai University of Engineering Science, Shanghai, ChinaLaboratory of Intelligent Control and Robotics, Shanghai University of Engineering Science, Shanghai, ChinaLaboratory of Intelligent Control and Robotics, Shanghai University of Engineering Science, Shanghai, ChinaThis paper investigates the bipartite time-varying formation control problem for a class of heterogeneous unknown nonlinear multi-agent systems. This bipartite time-varying formation is composed of two sub-formations whose relationship is opposite. By parameterization the unknown nonlinear items of all agents, a distributed adaptive proportional-integral protocol is presented under undirected signed topology to ensure the convergence of the bipartite time-varying formation error. Some sufficient conditions for choosing suitable control parameters are given. In the case of systems with external time-varying but bounded disturbances, the uniformly ultimate boundedness of the formation error and its integration can be guaranteed by the proposed control protocol. A simulative example is provided to illustrate the effectiveness of the proposed protocol.https://ieeexplore.ieee.org/document/9387323/Heterogeneousmulti-agent systemsdistributed controladaptive controlbipartite time-varying formation |
| spellingShingle | Weike Wang Wei Zhang Chenhang Yan Yu Fang Distributed Adaptive Bipartite Time-Varying Formation Control for Heterogeneous Unknown Nonlinear Multi-Agent Systems IEEE Access Heterogeneous multi-agent systems distributed control adaptive control bipartite time-varying formation |
| title | Distributed Adaptive Bipartite Time-Varying Formation Control for Heterogeneous Unknown Nonlinear Multi-Agent Systems |
| title_full | Distributed Adaptive Bipartite Time-Varying Formation Control for Heterogeneous Unknown Nonlinear Multi-Agent Systems |
| title_fullStr | Distributed Adaptive Bipartite Time-Varying Formation Control for Heterogeneous Unknown Nonlinear Multi-Agent Systems |
| title_full_unstemmed | Distributed Adaptive Bipartite Time-Varying Formation Control for Heterogeneous Unknown Nonlinear Multi-Agent Systems |
| title_short | Distributed Adaptive Bipartite Time-Varying Formation Control for Heterogeneous Unknown Nonlinear Multi-Agent Systems |
| title_sort | distributed adaptive bipartite time varying formation control for heterogeneous unknown nonlinear multi agent systems |
| topic | Heterogeneous multi-agent systems distributed control adaptive control bipartite time-varying formation |
| url | https://ieeexplore.ieee.org/document/9387323/ |
| work_keys_str_mv | AT weikewang distributedadaptivebipartitetimevaryingformationcontrolforheterogeneousunknownnonlinearmultiagentsystems AT weizhang distributedadaptivebipartitetimevaryingformationcontrolforheterogeneousunknownnonlinearmultiagentsystems AT chenhangyan distributedadaptivebipartitetimevaryingformationcontrolforheterogeneousunknownnonlinearmultiagentsystems AT yufang distributedadaptivebipartitetimevaryingformationcontrolforheterogeneousunknownnonlinearmultiagentsystems |