发表机构
City University of Hong Kong（香港城市大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对欧拉-拉格朗日多智能体系统，提出一种无通信的仅基于方位自适应编队跟踪控制方案，利用方位速率和方位刚性构造阻尼机制，实现时变速度领导者的局部实际跟踪。
AI 中文摘要
本文研究了由欧拉-拉格朗日动力学支配的多智能体系统中无通信的仅基于方位的编队跟踪控制问题。与现有仅能稳定静止编队的结果不同，本文考虑了领导者以时变速度移动且代理间无通信的场景。在此设置下，领导者的状态（位置和速度）对所有跟随者不可用，且无法通过分布式观测器进行估计。为解决此问题，开发了一种新颖的自适应分布式控制方案。该设计利用了方位速率包含投影相对速度信息这一事实，结合方位刚性，提供了一种基于刚度的阻尼机制来补偿不可用的速度误差。此外，该阻尼机制被纳入一个方位驱动的辅助变量中，以构造替代速度误差，从而促进欧拉-拉格朗日动力学的自适应控制设计。再者，由于该阻尼机制需要足够的方位刚性，我们刻画了一个保持刚度的集合并建立了其正向不变性，从而通过初始条件保证这种刚性。通过基于Filippov的Lyapunov分析，所提方案被证明能实现局部实际编队跟踪，即速度误差收敛到零且位置误差一致最终有界。作为推论，在恒定速度情况下，无需初始条件限制即可实现渐近跟踪。仿真结果验证了所提控制律的有效性。
英文摘要
This paper investigates communication-free bearing-only formation tracking control for multi-agent systems governed by Euler-Lagrange dynamics. Distinct from existing results that can only stabilize a stationary formation, this work considers a scenario where the leaders move with time-varying velocities while the inter-agent communication is absent. In this setup, the leaders' states (position and velocity) are unavailable to all followers and cannot be estimated via distributed observers. A novel adaptive distributed control scheme is developed to address this problem. The design exploits the fact that bearing rates contain the projected relative-velocity information, which, together with bearing rigidity, provides a rigidity-based damping mechanism for compensating the unavailable velocity error. Moreover, this damping mechanism is incorporated into a bearing-driven auxiliary variable to construct a surrogate velocity error, facilitating the adaptive control design for EL dynamics. Furthermore, since this damping mechanism necessitates sufficient bearing rigidity, we characterize a rigidity-preserving set and establish its forward invariance, thereby guaranteeing such rigidity via initial conditions. Via a Filippov-based Lyapunov analysis, the proposed scheme is shown to achieve local practical formation tracking in the sense that the velocity error converges to zero and the position error is uniformly ultimately bounded. As a corollary, for the constant-velocity case, asymptotic tracking is achieved without initial-condition restriction. The simulation results verify the effectiveness of the proposed control law.
