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首页> 外文会议>Youth Academic Annual Conference of Chinese Association of Automation >Time-varying formation tracking for second-order multi-agent systems with switching directed topologies
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Time-varying formation tracking for second-order multi-agent systems with switching directed topologies

机译：具有切换定向拓扑的二阶多智能体系的时变形成跟踪

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摘要

Time-varying formation tracking problems for second-order multi-agent systems with switching and directed topologies are investigated, where the followers can not only form a predefined time-varying formation but also track the leader. A consensus based protocol is constructed using local neighboring information. An algorithm consisting of three steps is proposed to design the formation tracking control protocol. Then, based on the piecewise Lyapunov function theory, the stability of the proposed algorithm is proven and feasibility constraints as well as the threshold for the dwell time are also presented. Finally, a numerical simulation is presented to demonstrate the effectiveness of the theoretical results.
机译：调查了具有切换和定向拓扑的二阶多代理系统的时变形跟踪问题，其中追随者不仅可以形成预定的时变形成，还可以追踪领导者。使用本地相邻信息构建基于共识的协议。提出了一种由三个步骤组成的算法来设计地层跟踪控制协议。然后，基于分段Lyapunov函数理论，已经证明了所提出的算法的稳定性，并且还呈现了可行性约束以及停留时间的阈值。最后，提出了数值模拟以证明理论结果的有效性。

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