Practical time-varying output formation tracking for high-order nonlinear strict-feedback multi-agent systems with control gap using adaptive neural networks

Practical time-varying output formation tracking issues for high-order nonlinear strict-feedback multi-agent systems with control gap are studied in this paper. The outputs of the followers are desired to form a time-varying formation while tracking the leader’s output. Besides, the dynamics of each agent has high-order mismatched nonlinearities and control gap, and the leader has unknown control signal. Firstly, the mismatched nonlinearities, the control gap and the leader’s unknown control signal are transformed into the integrated uncertainties, and a practical time-varying output formation tracking protocol is constructed by using adaptive neural networks and back-stepping technique. Then, the procedures for designing the protocol are summarized to an algorithm including the feasible time-varying formation tracking condition and the criteria for the selection of the control parameters. Thirdly, the stability of the closed-loop multi-agent system can be guaranteed through the analysis method of the Lyapunov stability theory. Finally, a simulation example is presented for illustrating the effectiveness of the proposed method.

[1]  Peng Shi,et al.  Formation control for multi-robot systems with collision avoidance , 2019, Int. J. Control.

[2]  Shumin Fei,et al.  Extended adaptive event-triggered formation tracking control of a class of multi-agent systems with time-varying delay , 2018, Neurocomputing.

[3]  Khoshnam Shojaei,et al.  Neural network formation control of underactuated autonomous underwater vehicles with saturating actuators , 2016, Neurocomputing.

[4]  Zhang Ren,et al.  Practical formation‐containment tracking for multiple autonomous surface vessels system , 2019, IET Control Theory & Applications.

[5]  Mario Sassano,et al.  Modal consensus, synchronization and formation control with distributed endogenous internal models , 2018, Autom..

[6]  Yuanqing Xia,et al.  Coordination Control Design for Formation Reconfiguration of Multiple Spacecraft , 2015, Finite Time and Cooperative Control of Flight Vehicles.

[7]  Gang Wang,et al.  Distributed adaptive consensus tracking control of higher-order nonlinear strict-feedback multi-agent systems using neural networks , 2016, Neurocomputing.

[8]  Nathan van de Wouw,et al.  A virtual structure approach to formation control of unicycle mobile robots using mutual coupling , 2011, Int. J. Control.

[9]  Zhang Ren,et al.  Practical Time-Varying Formation Tracking for Second-Order Nonlinear Multiagent Systems With Multiple Leaders Using Adaptive Neural Networks , 2018, IEEE Transactions on Neural Networks and Learning Systems.

[10]  Wei Ren,et al.  Multi-vehicle consensus with a time-varying reference state , 2007, Syst. Control. Lett..

[11]  Chun-Yi Su,et al.  Robust adaptive control of a class of nonlinear systems with unknown dead-zone , 2004, Autom..

[12]  Zhang Ren,et al.  Practical time-varying formation tracking for high-order nonlinear multi-agent systems based on the distributed extended state observer , 2019, Int. J. Control.

[13]  Yongduan Song,et al.  Terminal Sliding Mode-Based Consensus Tracking Control for Networked Uncertain Mechanical Systems on Digraphs , 2018, IEEE Transactions on Neural Networks and Learning Systems.

[14]  Zixuan Liang,et al.  Practical time‐varying formation tracking for high‐order nonlinear multiagent systems with multiple leaders based on the distributed disturbance observer , 2018 .

[15]  Zengqiang Chen,et al.  Leader-following formation control for second-order multiagent systems with time-varying delay and nonlinear dynamics , 2013 .

[16]  Yongduan Song,et al.  Cooperative Tracking Control of Nonlinear Multiagent Systems Using Self-Structuring Neural Networks , 2014, IEEE Transactions on Neural Networks and Learning Systems.

[17]  Qinglei Hu,et al.  Relative position finite-time coordinated tracking control of spacecraft formation without velocity measurements. , 2015, ISA transactions.

[18]  Jiaqiang Zhang,et al.  Feedback formation control of UAV swarm with multiple implicit leaders , 2018 .

[19]  David J. N. Limebeer,et al.  Linear Robust Control , 1994 .

[20]  Sung Jin Yoo,et al.  Distributed Consensus Tracking for Multiple Uncertain Nonlinear Strict-Feedback Systems Under a Directed Graph , 2013, IEEE Transactions on Neural Networks and Learning Systems.

[21]  Zhang Ren,et al.  Robust ${H_\infty}$ Guaranteed Cost Time-Varying Formation Tracking for High-Order Multiagent Systems With Time-Varying Delays , 2020, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[22]  Gang Feng,et al.  Novel distributed robust adaptive consensus protocols for linear multi-agent systems with directed graphs and external disturbances , 2015, Int. J. Control.

[23]  Hong Xia,et al.  Leader-following formation control for second-order multi-agent systems with time-varying delays , 2014 .

[24]  Lili Wang,et al.  Distributed Formation Control of Multi-Agent Systems Using Complex Laplacian , 2014, IEEE Transactions on Automatic Control.

[25]  Zhang Ren,et al.  Practical time-varying formation tracking for multiple non-holonomic mobile robot systems based on the distributed extended state observers , 2018 .

[26]  Zhang Ren,et al.  Time-Varying Formation Tracking for Second-Order Multi-Agent Systems Subjected to Switching Topologies With Application to Quadrotor Formation Flying , 2017, IEEE Transactions on Industrial Electronics.