articleIEEE Transactions on Industrial ElectronicsJul 21, 2016Closed access

Time-Varying Formation Tracking for Second-Order Multi-Agent Systems Subjected to Switching Topologies With Application to Quadrotor Formation Flying

XDXiwang DongYZYan ZhouZRZhang RenYZYisheng Zhong

Beihang University · Tsinghua University

Indexed incrossref

Abstract

Time-varying formation tracking analysis and design problems for second-order Multi-Agent systems with switching interaction topologies are studied, where the states of the followers form a predefined time-varying formation while tracking the state of the leader. A formation tracking protocol is constructed based on the relative information of the neighboring agents. Necessary and sufficient conditions for Multi-Agent systems with switching interaction topologies to achieve time-varying formation tracking are proposed together with the formation tracking feasibility constraint based on the graph theory. An approach to design the formation tracking protocol is proposed by solving an algebraic Riccati equation,…

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Topics & keywords

Topics
Keywords
  • Network topology
  • Control theory (sociology)
  • Algebraic graph theory
  • Tracking (education)
  • Multi-agent system
  • Algebraic Riccati equation
  • Stability (learning theory)
  • Constraint (computer-aided design)
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