Open AccessDistributed adaptive control for distance‐based formation and flocking control of multi‐agent systems
Author(s) -
Zou Ying,
Wen Changyun,
Guan Mingyang
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.6001
Subject(s) - flocking (texture) , control theory (sociology) , multi agent system , parametric statistics , adaptive control , computer science , convergence (economics) , controller (irrigation) , tracking error , control (management) , control engineering , mathematics , engineering , artificial intelligence , statistics , materials science , agronomy , economics , composite material , biology , economic growth
In this study, a distributed adaptive control strategy for distance‐based formation and flocking control of multi‐agent system with parametric uncertainty is proposed. A 3‐agent leader–first‐follower system is considered first. The agents are supposed to have non‐identical dynamics, whereas with similar structure. By introducing two new variables that involve distance error and velocity error and utilising them in the controller design, global convergence of all agents to the desired formation and to the velocity of the leader is established. Finally, the three‐agent case is inductively extended to N ‐agent case. The stability and the effectiveness of the proposed control strategy are analysed in theory and demonstrated through simulation results, respectively.