摘要
In this paper,the problem of adaptive finite time formation control is investigated for double integrator multi-agent systems with uncertainties.Firstly,considering the multi-agent systems with uncertain dynamic reference and external bounded disturbance,a distributed adaptive estimator control algorithm is designed to realize formation tracking control in finite-time.It is important that the collision avoidance and maintaining connectivity of the multi-agent systems are realized by constructing an effective potential function based on distance constraints.On the other hand,the problem of formation production control for the double integrator systems is discussed with desired formation shape in finite-time.Achieving four control objectives is the main contributions in all the phases,including the estimation of uncertainties,collision avoidance,connectivity maintenance,and finite-time convergence.Finally,an application example of the formation production control is presented to verify accuracy of the proposed theoretical method.
基金
work was supported by the National Natural Science Foundation of China(Grant Nos.11962019,11932003,11602115,11602146 and 11802006)
the Young Talents of Science and Technology in Universities of Inner Mongolia Autonomous Region(Grant No.NJYT-17-B33)
the Beijing Natural Science Foundation(Grant No.1194024)
and the Fundamental Research Funds for the Central。
