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

摘要：

In this article we consider a class of multi-agent dynamic systems with uncertainties and the problem of moving in a prede.ned 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 recon.guration (change of shape) are also considered. The performance of the system is veri.ed with simple numerical simulations.

作者: Esma Gül Veysel Gazi

作者单位: Turkish Aerospace Industries (TAI), Fethiye Mahallesi,Havacilik Bulvari No: 17, 06980 Kazan, Ankara, Istanbul Kemerburgaz University, Department of Electrical and Electronics Engineering, Mahmutbey Dil

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 6-13

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）