Published April 21, 2021
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Adaptive Formation Tracking Control for First-Order Agents With a Time-Varying Flow Parameter
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A novel adaptive method to achieve both path following and formation moving along desired orbits in the presence of a spatio-temporal flowfield is presented. The flowfield is a spatio-temporal general flow with unknown time-varying parameters. The so-called congelation of variables method is used to estimate the time-varying flow parameters, which do not have any restrictions on the rate of their variation. The asymptotic properties of the resulting adaptive system are studied in detail. Simulation results demonstrate the effectiveness of the proposed method.
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2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Y. -Y. Chen, K. Chen, and A. Astolfi, "Adaptive Formation Tracking Control for First-Order Agents With a Time-Varying Flow Parameter," IEEE Transactions on Automatic Control, vol. 67, no. 5, pp. 2481-2488, May 2022, doi: 10.1109/TAC.2021.3074900.
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