Hierarchical adaptive formation tracking control with uncertain time-varying exosystem
File(s)
Accepted version
Author(s)
Liu, Tianrun
Chen, Yang-Yang
Chen, Kaiwen
Astolfi, Alessandro
Type
Journal Article
Abstract
This paper investigates the formation tracking problem with uncertain time-varying exosystem over a general directed graph. The exosystem describes both the moving target and the disturbances affecting each agent. The dynamics of each agent is described by a parametric strict-feedback form subject to orbit constraints. The so-called congelation of variables method is employed in a hierarchical design to yield an adaptive formation estimator and an adaptive tracking controller. An adaptive coupling gain is integrated into the estimator design, which utilizes the local estimated states and is independent of the communication graph. Boundedness and convergence properties of the resulting adaptive systems are proven. Two simulation results are provided to show the effectiveness of the proposed estimator-controller scheme.
Date Issued
2026-08-01
Date Acceptance
2026-03-01
Citation
IEEE Transactions on Automatic Control, 2026, 71 (8), pp.5204-5215
ISSN
0018-9286
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Start Page
5204
End Page
5215
Journal / Book Title
IEEE Transactions on Automatic Control
Volume
71
Issue
8
Copyright Statement
Copyright © 2026 IEEE. This is the author’s accepted manuscript made available under a CC-BY licence in accordance with Imperial’s Research Publications Open Access policy (www.imperial.ac.uk/oa-policy)
License URL
Publication Status
Published
Date Publish Online
2026-03-02