A novel adaptive method to achieve both path following and formation moving along desired orbits in the presence of a spatio-temporal flowfield is presented. The flowfield is a spatio-temporal general flow with unknown time-varying parameters. The so-called congelation of variables method is used to estimate the time-varying flow parameters, which do not have any restrictions on the rate of their variation. The asymptotic properties of the resulting adaptive system are studied in detail. Simulation results demonstrate the effectiveness of the proposed method.
Chen, Y.-., Chen, K., Astolfi, A. (2022). Adaptive Formation Tracking Control for First-Order Agents with a Time-Varying Flow Parameter. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 67(5), 2481-2488 [10.1109/TAC.2021.3074900].
Adaptive Formation Tracking Control for First-Order Agents with a Time-Varying Flow Parameter
Astolfi A.
2022-05-01
Abstract
A novel adaptive method to achieve both path following and formation moving along desired orbits in the presence of a spatio-temporal flowfield is presented. The flowfield is a spatio-temporal general flow with unknown time-varying parameters. The so-called congelation of variables method is used to estimate the time-varying flow parameters, which do not have any restrictions on the rate of their variation. The asymptotic properties of the resulting adaptive system are studied in detail. Simulation results demonstrate the effectiveness of the proposed method.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
