Distributed Adaptive Time-Varying Group Formation Tracking for Multiagent Systems With Multiple Leaders on Directed Graphs

@article{Hu2020DistributedAT,
  title={Distributed Adaptive Time-Varying Group Formation Tracking for Multiagent Systems With Multiple Leaders on Directed Graphs},
  author={Junyan Hu and P. Bhowmick and A. Lanzon},
  journal={IEEE Transactions on Control of Network Systems},
  year={2020},
  volume={7},
  pages={140-150}
}
This paper proposes a fully distributed control protocol that achieves time-varying group formation tracking for linear multiagent systems connected via a directed graph. The group formation tracking often leads to sub-formations especially when the leaders are placed far apart or they have separate control inputs. In the proposed approach, the followers are distributed into several subgroups and each subgroup attains the predefined subformation along with encompassing the leaders. Each… Expand
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