Time-varying Formation Tracking for Second-order Multi-agent Systems Subjected to Switching Topology and Input Saturation
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 saturat...
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| Published in | International journal of control, automation, and systems Vol. 18; no. 4; pp. 991 - 1001 |
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| Main Authors | , , , |
| 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 |
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| Abstract | 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. |
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| AbstractList | 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. This paper addresses the problem of time-varying formation tracking for a kind of second-order multiagent 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. KCI Citation Count: 19 |
| Author | He, Guang Li, Zhen Liu, Jing Fang, Jian-an |
| Author_xml | – sequence: 1 givenname: Jing surname: Liu fullname: Liu, Jing organization: College of Information Science and Technology, Donghua University – sequence: 2 givenname: Jian-an orcidid: 0000-0001-9875-318X surname: Fang fullname: Fang, Jian-an email: jafang@dhu.edu.cn organization: College of Information Science and Technology, Donghua University – sequence: 3 givenname: Zhen surname: Li fullname: Li, Zhen organization: School of Automation, Xi-an University of Posts & Telecommunications – sequence: 4 givenname: Guang surname: He fullname: He, Guang organization: Department of Mathematics, Anhui Polytechnic University |
| BackLink | https://www.kci.go.kr/kciportal/ci/sereArticleSearch/ciSereArtiView.kci?sereArticleSearchBean.artiId=ART002568325$$DAccess content in National Research Foundation of Korea (NRF) |
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| Keywords | second-order multi-agent systems Formation tracking control switching topology input saturation |
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| SubjectTerms | Algorithms Computer simulation Control Double integrators Engineering Harmonic oscillators Integrators Liapunov functions Mechatronics Multiagent systems Robotics Saturation State feedback Switching Topology Tracking problem 제어계측공학 |
| Title | Time-varying Formation Tracking for Second-order Multi-agent Systems Subjected to Switching Topology and Input Saturation |
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