Hierarchical Adaptive Formation Tracking Control With Uncertain Time-Varying Exosystem

• 成果类型: Article
• 署名作者: Liu, Tianrun; Chen, Yang-Yang; Chen, Kaiwen; Astolfi, Alessandro
• 署名单位: Hohai University; Southeast University - China; Southeast University - China; Imperial College London; King Abdullah University of Science & Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2026.3669444
• 发表日期: 2026
• 关键词: Cooperative output regulation; systems; consensus; Leader

摘要

This article investigates the formation tracking problem with uncertain time-varying exosystem over a general directed graph. The exosystem describes both the moving target and the disturbances affecting each agent. The dynamics of each agent is described by a parameteric strict-feedback form subject to orbit constraints. The so-called congelation of variables method is employed in a hierarchical design to yield an adaptive formation estimator and an adaptive tracking controller. An adaptive coupling gain is integrated into the estimator design, which utilizes the local estimated states and is independent of the communication graph. Boundedness and convergence properties of the resulting adaptive systems are proven. Two simulation results are provided to show the effectiveness of the proposed estimator-controller scheme.