二部图
拉普拉斯矩阵
趋同(经济学)
生成树
多智能体系统
特征向量
有界函数
协议(科学)
计算机科学
有符号图
图形
李雅普诺夫函数
有向图
数学
控制理论(社会学)
控制(管理)
理论计算机科学
算法
离散数学
非线性系统
人工智能
物理
数学分析
病理
医学
经济
量子力学
替代医学
经济增长
作者
Chenhang Yan,Wei Zhang,Housheng Su,Xiaohang Li
出处
期刊:IEEE transactions on cybernetics
[Institute of Electrical and Electronics Engineers]
日期:2022-09-01
卷期号:52 (9): 8987-9000
被引量:35
标识
DOI:10.1109/tcyb.2021.3054648
摘要
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.
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