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The distributed adaptive leader-following time-varying formation control for asynchronously switched MASs subject to input quantization is studied in this paper. To establish the model of asynchronous switchings between the agents and the control scheme due to communication delays and actuator delays, a signal with minimum dwell time is introduced. Meanwhile, with the adaptive updating strategies, the obstacles caused by hysteresis quantization input signals, actuator failures and time-varying unknown parameters are circumvented by estimating the boundaries of uncertainty, without global knowledge of the communication topology. Then, the control parameter design is formulated for this protocol as a set of linear matrix inequalities, and the resulting LMI-based algorithm provides feasible solutions ensure that the required time-varying formation tracking is achieved. In addition, through Lyapunov theory, the stability of the multi-agent systems is proven. The validity of the obtained results is ultimately established through numerical simulations.

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Distributed Fault-Tolerant Adaptive Formation Control for Multi-agent Systems with Input Quantization Under Asynchronous Switching Topologies

  • 会议论文

  • 发表日期：

    2026年

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  • Hantong Mei,
  • Kuan Gao,
  • Jiaxuan Mo,
  • Hantong Wang,
  • Zhenyue Jia

摘要

The distributed adaptive leader-following time-varying formation control for asynchronously switched MASs subject to input quantization is studied in this paper. To establish the model of asynchronous switchings between the agents and the control scheme due to communication delays and actuator delays, a signal with minimum dwell time is introduced. Meanwhile, with the adaptive updating strategies, the obstacles caused by hysteresis quantization input signals, actuator failures and time-varying unknown parameters are circumvented by estimating the boundaries of uncertainty, without global knowledge of the communication topology. Then, the control parameter design is formulated for this protocol as a set of linear matrix inequalities, and the resulting LMI-based algorithm provides feasible solutions ensure that the required time-varying formation tracking is achieved. In addition, through Lyapunov theory, the stability of the multi-agent systems is proven. The validity of the obtained results is ultimately established through numerical simulations.