Abstract
In this paper, a unified distributed swarm intelligence algorithm is developed to study time-varying output formation (TVOF) for a general linear multi-agent system (MAS) with a directed network. New adaptive output-feedback formation protocols are proposed to achieve TVOF stabilization for leaderless directed networks and TVOF tracking for leader-follower networks. For the leaderless case, only agents’ outputs are required to achieve the desired time-varying formation. An adaptive observer-type formation protocol is constructed via relative outputs of neighboring agents. No global information of the directed network is used to determine the protocol. A distributed algorithm is developed to solve the TVOF stabilization problem after the observability decomposition. For the leader-follower case, only partial agents have knowledge of the leaders’ information. An adaptive formation tracking protocol is constructed using dynamic relative output-feedback for neighboring followers. Based on the distributed algorithm, it is proved that the TVOF tracking problem with multiple leaders can be solved in a fully distributed manner.
Highlights
Swarm intelligence has been the subject of many studies in the multi-agent system (MAS) community during the past decades
Due to the macro trajectory of a MAS is not considered in TVOF stabilization problems, the time-varying output formation tracking (TVOFT) control problems for MASs are more practical because the tracking control part in TVOFT control problems provides possibilities for high-level missions
Motivated by the above discussion, fully distributed relative output-feedback formation approaches for general linear MASs with a directed network are developed in this paper, from the leaderless TVOF stabilization to the leader-follower TVOFT
Summary
Swarm intelligence has been the subject of many studies in the multi-agent system (MAS) community during the past decades. Due to the macro trajectory of a MAS is not considered in TVOF stabilization problems, the time-varying output formation tracking (TVOFT) control problems for MASs are more practical because the tracking control part in TVOFT control problems provides possibilities for high-level missions. Another reminder is that the previous TVOF results in [3], [20] all required the absolute outputs of each agent and its neighbors. Motivated by the above discussion, fully distributed relative output-feedback formation approaches for general linear MASs with a directed network are developed in this paper, from the leaderless TVOF stabilization to the leader-follower TVOFT. Denote the maximum (resp. minimum) eigenvalue of real symmetric matrix P by λPmax (resp. λPmin)
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