Adaptive Internal Model Based Formation Control of a Class of Multi-Agent Systems with Switched Exosystems

Gul E., Gazi V.

24th Chinese Control and Decision Conference (CCDC), Taiyuan, Çin, 23 - 25 Mayıs 2012, ss.6-13, (Tam Metin Bildiri)

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/ccdc.2012.6242919
  • Basıldığı Şehir: Taiyuan
  • Basıldığı Ülke: Çin
  • Sayfa Sayıları: ss.6-13
  • Yıldız Teknik Üniversitesi Adresli: Hayır

Özet

In this article we consider a class of multi-agent dynamic systems with uncertainties and the problem of moving in a predefined formation along a reference trajectory. The reference trajectory is generated by switched exosystems each of which are neutrally stable and have unknown parameters. The problem is formulated as a nonlinear servomechanism problem and an adaptive internal model based controller is used to solve this problem. Various formation maneuvers such as expansion/contraction, rotation, and reconfiguration (change of shape) are also considered. The performance of the system is verified with simple numerical simulations.