Heterogeneous Multi-agent Output Adjustment Quantization Adaptive Tracking Control
Considering the complex situation of some state information loss,output degradation and delayed quantization input in the UAV-USV dynamics model,an output adjustment quantization adaptive scheme is proposed to solve the consistent tracking control problem of heterogeneous multi-agent systems.By using the output information of dimensionality reduction,the quantitative feedback control input and adaptive law are designed to realize the consistent tracking of the full-dimensional state information in the heterogeneous multi-agent formation system to the reference model.The stability analysis based on Lyapunov method proves the consistent boundness of each variable.The ability of the heterogeneous multi-agent formation system to achieve consistent tracking of each variable in a plane is verified by numerical simulation.
Unmanned aerial vehicles(UAV)-Unmanned surface vehicle(USV)formationFormation controlMulti-agentOutput regulationAdaptive control
万方数据
维普
