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Adaptive internal model based formation control of a class of multi-agent systems with switched exosystems

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2 Author(s)
Esma Gül ; Turkish Aerospace Industries (TAI), Fethiye Mahallesi, Havacılık Bulvarı No: 17, 06980 Kazan, Ankara, TURKEY ; Veysel Gazi

In this article we consider a class of multi-agent dynamic systems with uncertainties and the problem of moving in a predefined formation along a reference trajectory. The reference trajectory is generated by switched exosystems each of which are neutrally stable and have unknown parameters. The problem is formulated as a nonlinear servomechanism problem and an adaptive internal model based controller is used to solve this problem. Various formation maneuvers such as expansion/contraction, rotation, and reconfiguration (change of shape) are also considered. The performance of the system is verified with simple numerical simulations.

Published in:

2012 24th Chinese Control and Decision Conference (CCDC)

Date of Conference:

23-25 May 2012