Time-varying Formation Tracking for Second-order Multi-agent Systems Subjected to Switching Topology and Input Saturation

• Published in: International journal of control, automation, and systems Vol. 18; no. 4; pp. 991 - 1001
• Main Authors: Liu, Jing, Fang, Jian-an, Li, Zhen, He, Guang
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.04.2020; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Algorithms; Computer simulation; Control; Double integrators; Engineering; Harmonic oscillators; Integrators; Liapunov functions; Mechatronics; Multiagent systems; Robotics; Saturation; State feedback; Switching; Topology; Tracking problem; 제어계측공학; second-order multi-agent systems; Formation tracking control; switching topology; input saturation
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-019-0473-y

This paper addresses the problem of time-varying formation tracking for a kind of second-order multi-agent systems with a switching topology, in which the dynamics of agents are modeled by double integrators and harmonic oscillators respectively. The control input of each agent is subject to saturation. First, depending on the low-gain state feedback technique, an algorithm is designed to solve semi-global time-varying formation tracking problem, where feasibility condition of formation tracking is introduced. Then, by utilizing the Lyapunov function and low-gain feedback theory, it is proved that second-order multi-agent system with a switching topology achieves the specified semi-global time-varying formation tracking if some sufficient conditions hold. Further, as an extension, jointly connected switching topology is considered, and the corresponding formation tracking problem is also explored. Subsequently, several simulation examples is worked out for illustration.