Adaptive Formation Tracking Control for First-Order Agents With a Time-Varying Flow Parameter
Yang‐Yang Chen, Kaiwen Chen, Alessandro Astolfi
Abstract
A novel adaptive method to achieve both path following and formation moving along desired orbits in the presence of a spatio-temporal flowfield is presented. The flowfield is a spatio-temporal general flow with unknown time-varying parameters. The so-called \emph{congelation of variables} method is used to estimate the time-varying flow parameters, which do not have any restrictions on the rate of their variation. The asymptotic properties of the resulting adaptive system are studied in detail. Simulation results demonstrate the effectiveness of the proposed method.
Topics & Concepts
Control theory (sociology)Tracking (education)Adaptive controlFlow (mathematics)Path (computing)Computer scienceApplied mathematicsMathematicsControl (management)Mathematical optimizationArtificial intelligenceGeometryPedagogyPsychologyProgramming languageDistributed Control Multi-Agent SystemsAdaptive Control of Nonlinear SystemsMicro and Nano Robotics