Adaptive Formation Tracking Control for First-Order Agents With a Time-Varying Flow Parameter

• 成果类型: Article
• 署名作者: Chen, Yang-Yang; Chen, Kaiwen; Astolfi, Alessandro
• 署名单位: Southeast University - China; Southeast University - China; Imperial College London; University of Rome Tor Vergata
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3074900
• 发表日期: 2022
• 页码: 2481-2488
• 关键词: Orbits; Task analysis; Time-varying systems; Planetary orbits; Network topology; Integrated circuits; control systems; Adaptive estimate; formation tracking control; time-varying flow parameters

摘要

A novel adaptive method to achieve both path following and formation moving along desired orbits in the presence of a spatio-temporal flowfield is presented. The flowfield is a spatio-temporal general flow with unknown time-varying parameters. The so-called congelation of variables method is used to estimate the time-varying flow parameters, which do not have any restrictions on the rate of their variation. The asymptotic properties of the resulting adaptive system are studied in detail. Simulation results demonstrate the effectiveness of the proposed method.