Abstract
This paper studies the communication smooth switching problem of time-varying formation control. When the formation system performs topology switching, sudden changes in communication will cause communication failure and affect formation control. To avoid this adverse impact, we introduce a smooth transition function of communication topology. At the same time, for the formation system with unknown nonlinear dynamics, an adaptive backstepping controller combining the backstepping control method and the fuzzy logic system is designed. Then, based on Lyapunov stability theory, we prove the stability of the designed controller. The results of the simulation experiments can verify the effectiveness of the designed controller.
Highlights
In the past 30 years, the research and application of multi-agent systems have gradually become a research hotspot.1–4 The main research directions include cluster problems, formation control problems, consistency problems, and network optimization problems.5–8 This paper studies the time-varying formation control of a multi-agent system, especially the sudden change in communication when the formation topology changes.At present, many scholars study the topology switching problem in formation control.9–12 These studies have made formation control more practical
In Ref. 16, Yu designed and analyzed the communication smooth transition swarm control for smooth transition in communication, but this research was conducted when dynamics are in the ideal state
For the time-varying formation control with unknown nonlinear dynamics, we study the sudden change in communication during the formation switching process and design an adaptive controller based on the backstepping control method and fuzzy logic system
Summary
In the past 30 years, the research and application of multi-agent systems have gradually become a research hotspot. The main research directions include cluster problems, formation control problems, consistency problems, and network optimization problems. This paper studies the time-varying formation control of a multi-agent system, especially the sudden change in communication when the formation topology changes. In Ref. 22, swarm formation control problems for nonlinear second-order multi-agent systems by using neural networks were studied. In Ref. 35, the authors proposed an adaptive fuzzy stochastically finite-time control method for non-triangular uncertain stochastic nonlinear systems. In Ref. 36, the authors studied the uniform tracking control of second-order multi-agent systems under unknown nonlinear dynamics, and the fuzzy logic system was used to approximate unknown nonlinear dynamics. The researchers in Ref. 37 focused on the fact that system dynamics may be non-stationary with some uncertainties, proposed a second-order algorithm with an adaptive learning rate, and established a self-organizing fuzzy neural network. For the time-varying formation control with unknown nonlinear dynamics, we study the sudden change in communication during the formation switching process and design an adaptive controller based on the backstepping control method and fuzzy logic system.
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