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Observer-based Time-varying Formation Tracking for One-sided Lipschitz Nonlinear Systems via Adaptive Protocol

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Abstract

In this paper, we investigate the problem of observer-based time-varying leader-following formation tracking for multi-agent systems with the one-sided Lipschitz and quadratic inner-boundedness nonlinear dynamics. An idea of the observer-based protocol with an edge-based adaptive law is designed for nonlinear systems, which enable agents to achieve a desired formation tracking when it cannot obtain the full state of the nonlinear system. In contrast to the previous nonlinear formation systems, the advantage of the developed method is that it is less conservative and more general for the nonlinear system with large Lipschitz constants. Besides, under the proposed adaptive law, the design of the protocol does not rely on the known communication topology. Finally, the simulation results for one leader and six followers are proposed to show the feasibility and effectiveness of the proposed method in the nonlinear time-varying formation system.

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Authors and Affiliations

  1. School of Mechnical and Automotive Engineering, Shanghai University of Engineering Science, 333 longteng road, Shanghai, China

    Chenhang Yan, Wei Zhang, Xiaohang Li & Yuchen Qian

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  1. Chenhang Yan
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  2. Wei Zhang
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Correspondence to Wei Zhang.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Associate Editor Yang Tang under the direction of Editor Hamid Reza Karimi. This work is supported by National Natural Science Foundation (NNSF) of China under Grant No. 61803256.

Chenhang Yan received his B.S. degree from the School of Mechanical Engineering, Taizhou University, Zhejiang, China, in 2018. He is currently pursuing an M.S. degree in the School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China. His research interests include formation control, networked dynamical systems and adaptive control.

Wei Zhang received his B.S. and M.S. degrees from the University of Electronic Science and Technology of China, Chengdu, China, in 1999 and 2005, respectively, and a Ph.D. degree from Shanghai Jiao Tong University, Shanghai, China, in 2010. From 2015 to 2016, he was a Senior Visiting Scholar with the Texas A&M University, College Station, TX, USA. Since 2019, he has been a full Professor with the School of Mechnical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai. His current research interests include nonlinear control and observation, complex network, and multiagent coordination control. Prof. Zhang was a Guest Editor of Mathematical Problems in Engineering.

Xiaohang Li received her M.S. and Ph.D. degrees in control theory and control engineering from Tongji University, Shanghai, China, in 2016. She is currently an Associate Professor with the Shanghai University of Engineering Science, Shanghai. Her current research interests include observer design, model-based fault detection, and fault tolerant control.

Yuchen Qian received his B.S. degree in engineering from the School of Mechanical Engineering, Nanjing University of Science and Technology Zijin College, Nanjing, China, in 2017. He is currently pursuing an M.S. degree in mechanical and electronic engineering with the School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, China. His current research interests include observation as well as consensus and formation control.

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Yan, C., Zhang, W., Li, X. et al. Observer-based Time-varying Formation Tracking for One-sided Lipschitz Nonlinear Systems via Adaptive Protocol. Int. J. Control Autom. Syst. 18, 2753–2764 (2020). https://doi.org/10.1007/s12555-019-0884-9

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