Connectivity-preserving formation tracking for multiple double integrators by a self-tuning adaptive distributed observer
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AbstractIn this letter, we study the distributed formation tracking problem for multiple double-integrator systems with connectivity preservation over a state-dependent communication network. In particular, we employ an adaptive distributed observer for the leader system that can estimate both the state and the system matrix of the leader. As a result, unlike the existing results, we do not require all vehicles to know the system matrix of the leader. Furthermore, the adaptive distributed observer incorporates a self-tuning dynamic observer gain, which eliminates the need of computing the observer gain in advance. The effectiveness of our approach is illustrated by an example.
All Author(s) ListZ. Pan, B. M. Chen
Journal nameIEEE Control Systems Letters
Volume Number7
Place of PublicationNew York
Pages2221 - 2226
LanguagesEnglish-United States
KeywordsAdaptive control, distributed control, networked control systems.

Last updated on 2024-16-04 at 00:34