TY - GEN
T1 - Adaptive Affine Formation Maneuver Control of Second-Order Multi-Agent Systems with Disturbances
AU - Luo, Zhengxin
AU - Zhang, Pengyu
AU - Ding, Xiangjun
AU - Tang, Zezhi
AU - Wang, Chunyan
AU - Wang, Jianan
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/12/13
Y1 - 2020/12/13
N2 - This paper studies adaptive affine formation maneuver control problem in the presence of external disturbances. The proposed control algorithm consists of a component for disturbances estimating and a component for formation tracking. To address the disturbances, an adaptive control strategy is designed for each follower to estimate external disturbances. Then, a formation control law is adopted to achieve desired formation maneuvers, such as translation, scaling and rotation with the external disturbances compensated. Sufficient conditions for stability of the proposed control algorithm are identified using Lyapunov method. Finally, simulations are presented to demonstrate the effectiveness of the theoretical results.
AB - This paper studies adaptive affine formation maneuver control problem in the presence of external disturbances. The proposed control algorithm consists of a component for disturbances estimating and a component for formation tracking. To address the disturbances, an adaptive control strategy is designed for each follower to estimate external disturbances. Then, a formation control law is adopted to achieve desired formation maneuvers, such as translation, scaling and rotation with the external disturbances compensated. Sufficient conditions for stability of the proposed control algorithm are identified using Lyapunov method. Finally, simulations are presented to demonstrate the effectiveness of the theoretical results.
KW - Multi-agent systems
KW - adaptive control
KW - affine formation maneuver control
KW - external disturbances
UR - http://www.scopus.com/inward/record.url?scp=85100109426&partnerID=8YFLogxK
U2 - 10.1109/ICARCV50220.2020.9305372
DO - 10.1109/ICARCV50220.2020.9305372
M3 - Conference contribution
AN - SCOPUS:85100109426
T3 - 16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020
SP - 1071
EP - 1076
BT - 16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020
Y2 - 13 December 2020 through 15 December 2020
ER -