Abstract
This letter investigates the adaptive output formation-Tracking problem of general linear heterogeneous multi-agent systems (MAS). The leader's dynamics are only known to its neighboring followers. All followers are assumed to be non-introspective, i.e., they have no selfknowledge, and only receive relative output information from neighbors. First, both the desired formation and the formation reference, i.e., the leader's output trajectory, can be time-varying. Then, we provide the sufficient conditions for the existence of a distributed controller to guarantee the adaptive time-varying output formation-Tracking of heterogeneous MAS with an unknown leader. Finally, we develop a time-varying L2-gain design problem to achieve the adaptive output formation-Tracking. The local design procedures are rigorously derived in terms of solving novel time-varying matrix Riccati differential equations.
| Original language | English |
|---|---|
| Pages (from-to) | 236-241 |
| Number of pages | 6 |
| Journal | IEEE Control Systems Letters |
| Volume | 2 |
| Issue number | 2 |
| Early online date | 9 Mar 2018 |
| DOIs | |
| Publication status | Published - Apr 2018 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2018 IEEE.
Funding
This work was supported in part by the National Science Foundation under Grant ECCS-1405173, and in part by the Office of Naval Research under Grant N00014-13-1-0562, Grant N00014-14-1-0718, and Grant N00014-17-1-2239.
Keywords
- Adaptive control
- Distributed observer
- Heterogeneous multi-agent systems
- Time-varying L2-gain design