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<p>The problem of distributed adaptive time-varying formation tracking (TVFT) for general linear multi-agent systems (MASs) with directed graphs is investigated in this study. An unknown input characterizes the active leader, while the inputs of the followers are saturated. Both the cases with and without a state observer are considered. This article aims to consider a distributed controller enabling followers to track the leader and attain the desired configuration concurrently. The proposed adaptive scheme does not consider any global information of the network graph or account for the upper bounds of the leader’s control inputs. Through Lyapunov’s theories, it is proven that the expected TVFT can be reached. Towards the end, the proposed theoretical method is confirmed through a numerical example.</p>

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Distributed Adaptive Time-varying Formation Tracking for Directed Multi-agent Systems Subject to Saturated-input With Active Leader

  • 期刊论文

  • 发表日期：

    2025年4月12日

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  • Xin Li,
  • Jie Wu,
  • Xisheng Zhan,
  • Lingli Cheng,
  • Bo Wu

摘要

The problem of distributed adaptive time-varying formation tracking (TVFT) for general linear multi-agent systems (MASs) with directed graphs is investigated in this study. An unknown input characterizes the active leader, while the inputs of the followers are saturated. Both the cases with and without a state observer are considered. This article aims to consider a distributed controller enabling followers to track the leader and attain the desired configuration concurrently. The proposed adaptive scheme does not consider any global information of the network graph or account for the upper bounds of the leader’s control inputs. Through Lyapunov’s theories, it is proven that the expected TVFT can be reached. Towards the end, the proposed theoretical method is confirmed through a numerical example.