Abstract
Adaptive guaranteed-performance formation analysis and design problems for second-order multi-agent systems are studied, where the global information is not required, which means the main results of this article are fully distributed. First, an adaptive guaranteed-performance formation control protocol is presented for second-order multi-agent systems, where the control input is constructed using neighboring state errors and adaptively adjustable interaction weights. Then, an adaptive guaranteed-performance formation control is proposed based on Riccati inequalities. Furthermore, the guaranteed-performance cost is determined and the adjusting approach of the formation control gain is presented in terms of linear matrix inequalities. Finally, a numerical simulation is provided to demonstrate the effectiveness of the theoretical results.
Highlights
Multi-agent cooperative control problems in previous works[7,8,9,10,11,12,13,14,15,16,17] were solved by consensus-based approach, which requires that the specific state variables of all agents reach an agreement
As an important research topic of cooperative control of multi-agent systems, formation control has been widely applied in transportation, surveillance and rescue, and so on
As a point of fact, formation control problems have been extensively studied during the past decades, and some typical formation control approaches have been proposed, such as leader–follower, virtual structure, and behaviorbased ones.[18,19,20]
Summary
In the past few years, distributed cooperative control of multi-agent systems has aroused great attention from both scientific and engineering communities.[1,2,3,4,5,6] Multi-agent cooperative control problems in previous works[7,8,9,10,11,12,13,14,15,16,17] were solved by consensus-based approach, which requires that the specific state variables of all agents reach an agreement. Keywords Guaranteed-performance control, multi-agent systems, consensus approach, formation control, adaptive control To the best of our knowledge, fully distributed guaranteed-performance formation control problems for second-order multi-agent systems with adaptive control scheme are still open. Motivated by the facts stated above, this article investigated adaptive guaranteed-performance formation control for second-order multi-agent systems.
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