School of Automation Engineering, Northeast Electric Power University, Jilin City, Jilin, 132012, China.
ISA Trans. 2023 Jun;137:210-221. doi: 10.1016/j.isatra.2023.01.008. Epub 2023 Jan 9.
This work investigates fixed-time time-varying output formation-containment control of heterogeneous general multi-agent systems, which comprises one virtual leader, multiple leaders, and followers. First, fixed-time nonlinear control law is constructed, such that leaders can achieve time-varying output formation in a finite time. Meanwhile, leaders can track the virtual leader's output trajectory. Next, two complete distributed adaptive fixed-time observers are designed aiming to recover a convex hull. This is key to control issue in this paper. Further, nonlinear control law is constructed for followers, such that followers can move into the convex hull formed by multiple leaders. Finally, two examples are provided to verify the feasibility of the theoretical results.
本工作研究了包含一个虚拟领导者、多个领导者和跟随者的异构广义多智能体系统的固定时间时变输出编队-包含控制。首先，构建了固定时间非线性控制律，使得领导者能够在有限时间内实现时变输出编队。同时，领导者可以跟踪虚拟领导者的输出轨迹。接下来，设计了两个完整的分布式自适应固定时间观测器，旨在恢复凸包。这是本文控制问题的关键。进一步，为跟随者构建了非线性控制律，使得跟随者可以进入由多个领导者形成的凸包中。最后，提供了两个例子来验证理论结果的可行性。
