异质非线性多智能体系统时变编队控制.

In practical applications, it is necessary for multiple agents lo work together according lo the desired formation. At this time, the multi - agents system is heterogeneous. In view of this problem, this study investigates the time - varying formation control problem of heterogeneous nonlinear multi - agents system based on the theory of consensus. A formation control strategy is designed by using the nonlinear parameter decomposition method to represent the heterogeneous nonlinear terms in a unified form. An adaptive time - varying formation control strategy is designed based on adaptive strategy and stale information feedback using the leader - follower method under directed topology, and the stability of the control strategy is proved by using Lyapunov stability theory. The simulation carried out in the case of one leader with three followers shows that the system is basically stable when the time is 40 s, and the system is stable and formed the desired time - varying formation when the time is 60 s, which verifies the effectiveness of the control strategy. [ABSTRACT FROM AUTHOR]