Electronic Science and Technology ›› 2021, Vol. 34 ›› Issue (8): 50-57.doi: 10.16180/j.cnki.issn1007-7820.2021.08.009

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Time-Varying Formation Control for Heterogeneous Nonlinear Multi-Agents System

WANG Weike,ZHANG Wei,SONG Fang,LONG Lin   

  1. School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620,China
  • Received:2020-03-20 Online:2021-08-15 Published:2021-08-17
  • Supported by:
    National Natural Science Foundation of China(61603241)


In practical applications, it is necessary for multiple agents to work together according to 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 state 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.

Key words: heterogeneous nonlinear, multi-agent, parameter decomposition, directed topology, adaptive control, state feedback, time-varying formation, stability analysis

CLC Number: 

  • TP273