Title: Lag-Bipartite Formation Tracking of Networked Robotic Systems Over Directed Matrix-Weighted Signed Graphs
Abstract: This article studies the lag-bipartite formation tracking (LBFT) problem of the networked robotic systems (NRSs) with directed matrix-weighted signed graphs. Unlike the traditional formation tracking problems with only cooperative interactions, solving the LBFT problem implies that: 1) the robots of the NRS are divided into two complementary subgroups according to the signed graph, describing the coexistence of cooperative and antagonistic interactions; 2) the states of each subgroup form a desired geometric pattern asymptotically in the local coordinate; and 3) the geometric center of each subgroup is forced to track the same leader trajectory with different plus-minus signs and a time lag. A new hierarchical control algorithm is designed to address this challenging problem. Based on the Lyapunov stability argument and the property of the matrix-weighted Laplacian, some sufficient criteria are derived for solving the LBFT problem. Finally, simulation examples are proposed to validate the effectiveness of the main results.
Publication Year: 2020
Publication Date: 2020-12-08
Language: en
Type: article
Indexed In: ['crossref', 'pubmed']
Access and Citation
Cited By Count: 31
AI Researcher Chatbot
Get quick answers to your questions about the article from our AI researcher chatbot