Time-Varying Group Formation-Containment Tracking Control for General Linear Multiagent Systems With Unknown Inputs
研究了一般线性多智能体系统在未知输入下的时变群组形成与包含跟踪问题，将智能体分为跟踪领导者、形成领导者和跟随者，设计协议使系统误差一致渐近收敛到零。
Time-varying group formation-containment tracking problems for general linear multiagent systems with unknown control input are investigated. Agents are classified into tracking leaders, formation leaders, and followers and assigned in groups. Tracking leaders with unknown control inputs provide unpredictable trajectories as macroscopic moving references. Formation leaders accomplish desired subformations while following the trails of tracking leaders. At the same time, followers converge into different convex hulls spanned by formation leaders. First, formation-containment tracking protocols are designed with neighboring relative information and effects of unknown input of tracking leaders. Then, the design of group division is analyzed by adjusting the properties in Laplacian matrices, which represent interaction relationships. An algorithm to determine the parameters in control protocols is proposed, and the formation tracking feasible constraint is presented. Next, it is proved that the general linear multiagent system can achieve time-varying group formation-containment control effectively with errors uniformly asymptotically converging to zero under designed protocols. Finally, a numerical simulation is given to verify the effectiveness of obtained theoretical results.