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, China, 23 - 25 May 2012, pp.6-13 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/ccdc.2012.6242919
  • City: Taiyuan
  • Country: China
  • Page Numbers: pp.6-13
  • Yıldız Technical University Affiliated: No


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.