多智能体系统自适应固定时间编队控制

doi:10.12305/j.issn.1001-506X.2025.02.26

Abstract

Abstract:

Aiming at the problems that the leader information is not globally known and the nonlinear term of systems is unknown, adaptive laws to estimate the upper bound of the leader's velocity and the upper bound of the nonlinear term parameter are proposed. Firstly, based on the leader-follower structure, a second-order nonlinear multi-agent system model is constructed. Secondly, the formation control law is given based on the backstepping technique, which guarantees the fixed-time convergence property of the formation control method. In addition, a filter with fixed-time convergence is introduced to alleviate the computational pressure of the system and smooth the virtual control law. Further, the system stability and fixed-time convergence characteristics are analyzed based on the Lyapunov stability theory. Finally, the validity of parameter adaptive law and control law is verified by a simulation test.

Key words: multi-agent system, formation control, adaptive law, fixed-time convergence

CLC Number:

TP273

Jiale LI, Qilin ZHONG, Jie XIAO, Guofei LI. Adaptive fixed-time formation control for multi-agent system[J]. Systems Engineering and Electronics, 2025, 47(2): 600-607.

Figures/Tables 9

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References 30

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编号	x/m	y/m	z/m	v/(m/s)
领导者	0	0	0	[0.3, 0.41, 0.5]^T
智能体#1	0.5	-0.5	0.5	0₃
智能体#2	-1.0	-0.5	0.5	0₃
智能体#3	0.5	0.5	1.0	0₃

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Adaptive fixed-time formation control for multi-agent system

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