Bipartite Antagonistic Time-Varying Formation Tracking for Multi-agent System
Jianhua Wang, Liang Han, Xiwang Dong, Qingdong Li, Zhang Ren · 2019
Bipartite antagonistic time-varying formation tracking problems for multi-agent systems with one dynamic leader is investigated in this paper, where the followers track the leader while achieving a pre-defined time-varying formation, and one group of followers tracks the leader while another group of followers tracks the leader at the opposite position to the origin. The competitive interactions among the followers and the external input of the leader are both taken into consideration. A distributed bipartite antagonistic time-varying formation tracking protocol is constructed by using the neighboring state information. Sufficient conditions for multi-agent system to achieve the bipartite formation tracking are given. An approach to extend the feasible set of formation is proposed and an algorithm to design the protocol is introduced. A numerical simulation is provided to demonstrate the effectiveness of the protocol.