论文标题
一个定向的树木自适应控制框架，用于时变地层
A Directed Spanning Tree Adaptive Control Framework for Time-Varying Formations
论文作者
论文摘要
在本文中，对于二驱动器而言，在线性多代理系统上解决了随时间变化的形成和随时间变化的编队跟踪问题，而不必了解与digraph相关的laplacian矩阵的特征值。解决这些问题的解决方案依赖于一个概括了跨越树自适应方法的框架，该方法最初仅限于共识问题。得出了形成问题解决方案的必要条件。形成误差的渐近收敛是通过图理论和Lyapunov分析证明的。
In this paper, the time-varying formation and time-varying formation tracking problems are solved for linear multi-agent systems over digraphs without the knowledge of the eigenvalues of the Laplacian matrix associated to the digraph. The solution to these problems relies on a framework that generalizes the directed spanning tree adaptive method, which was originally limited to consensus problems. Necessary and sufficient conditions for the existence of solutions to the formation problems are derived. Asymptotic convergence of the formation errors is proved via graph theory and Lyapunov analysis.
