Reference:
D. Yue,
S. Baldi,
J. Cao,
Q. Li, and
B. De Schutter,
"A directed spanning tree adaptive control solution to time-varying
formations," IEEE Transactions on Control of Network Systems,
vol. 8, no. 2, pp. 690-701, June 2021.
Abstract:
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 an approach 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.
Bibtex entry:
@article{YueBal:21-001,