Observer-Based Distributed Time-Varying Group Formation Control for Heterogeneous Linear Systems under Directed Topology
- Resource Type
- Conference
- Authors
- Zhou, Chongjian; Li, Man; Fu, Weiming; Kang, Yu; Qin, Jiahu
- Source
- 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM) Advanced Robotics and Mechatronics (ICARM), 2019 IEEE 4th International Conference on. :799-804 Jul, 2019
- Subject
- Robotics and Control Systems
Topology
Laplace equations
Time-varying systems
Protocols
Observers
Couplings
Conferences
Heterogeneous linear systems
time-varying group formation
observer-based protocol
- Language
This paper investigates the time-varying group formation problem for heterogeneous linear systems under directed interaction topology from an observer viewpoint. Considering the situation where there have multiple time-varying sub-formations and all agents can only access their output measurements directly, an observer-based distributed protocol is proposed for each agent to achieve the time-varying group formation where the observers are constructed to estimate the unmeasurable states. It is shown that the time-varying group formation control problem can be solved by selecting sufficiently large intra-group coupling gains if the communication topology of each subgroup has a spanning tree. Finally, simulation demonstrate the results.