Regular Papers

International Journal of Control, Automation and Systems 2022; 20(12): 3969-3978

Published online December 10, 2022

https://doi.org/10.1007/s12555-022-0135-3

© The International Journal of Control, Automation, and Systems

Observer-based Adaptive Bipartite Time-varying Formation Tracking of Multi-agent System with Bounded Unknown Input

Xiaoyi Zhang, Jie Wu, Xisheng Zhan*, Tao Han, and Huaicheng Yan

Hubei Normal University

Abstract

In this paper, the bipartite time-varying formation tracking (BTVFT) problem is studied for multi-agent system (MAS) with the state of agents is unpredictable and a tracking leader of unknown bounded control input. Based on available states and unavailable states, a innovative kind of adaptive BTVFT protocols for MAS is respectively proposed in this article. Then by using Lyapunov stability theory, the result implies that under the appropriate assumptions, one group of followers will trace the leader agent and achieve given formation, while another group of followers will accomplish a given formation at the opposite to the origin. Furthermore, simulation example is represented to validate the performance and effectiveness of the design techniques.

Keywords Adaptive control, bipartite control, state observer, time-varying formation.

Article

Regular Papers

International Journal of Control, Automation and Systems 2022; 20(12): 3969-3978

Published online December 1, 2022 https://doi.org/10.1007/s12555-022-0135-3

Copyright © The International Journal of Control, Automation, and Systems.

Observer-based Adaptive Bipartite Time-varying Formation Tracking of Multi-agent System with Bounded Unknown Input

Xiaoyi Zhang, Jie Wu, Xisheng Zhan*, Tao Han, and Huaicheng Yan

Hubei Normal University

Abstract

In this paper, the bipartite time-varying formation tracking (BTVFT) problem is studied for multi-agent system (MAS) with the state of agents is unpredictable and a tracking leader of unknown bounded control input. Based on available states and unavailable states, a innovative kind of adaptive BTVFT protocols for MAS is respectively proposed in this article. Then by using Lyapunov stability theory, the result implies that under the appropriate assumptions, one group of followers will trace the leader agent and achieve given formation, while another group of followers will accomplish a given formation at the opposite to the origin. Furthermore, simulation example is represented to validate the performance and effectiveness of the design techniques.

Keywords: Adaptive control, bipartite control, state observer, time-varying formation.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

Stats or Metrics

Share this article on

  • line

Related articles in IJCAS

IJCAS

eISSN 2005-4092
pISSN 1598-6446