Adaptive Bipartite Time-Varying Output Formation Control for Multiagent Systems on Signed Directed Graphs
研究了有向符号图上线性多智能体系统在领导者输入未知时的二分时变编队跟踪问题，提出一种仅利用邻居局部输出反馈的自适应非光滑协议，无需图拉普拉斯矩阵特征值信息，在结构平衡且含生成树时实现跟踪。
The issue of bipartite time-varying formation (BTVF) tracking for linear multiagent systems (MASs) with a leader of unknown input on signed digraphs is investigated. An adaptive nonsmooth protocol is taken in this article that utilizes only the local output feedback information among neighbors and, thus, can avoid employing the eigenvalue information of the Laplacian matrix of the graph. It is proven that if the interaction network of agents containing a spanning tree is structurally balanced, the BTVF tracking can be achieved with a leader of the bounded input via the proposed scheme. This leader-following BTVF includes two time-varying subformations, whose relationship is antagonistic. A convergence analysis of the proposed protocol for MASs is reflected by the Lyapunov method. Finally, the validly numerical simulations are illustrated to show the performance of the proposed schemes.