In this section
@article{Liu:2026:10.1109/tac.2026.3669444,
author = {Liu, T and Chen, Y-Y and Chen, K and Astolfi, A},
doi = {10.1109/tac.2026.3669444},
journal = {IEEE Transactions on Automatic Control},
title = {Hierarchical adaptive formation tracking control with uncertain time-varying exosystem},
url = {http://dx.doi.org/10.1109/tac.2026.3669444},
year = {2026}
}
TY - JOUR
AB - 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.
AU - Liu,T
AU - Chen,Y-Y
AU - Chen,K
AU - Astolfi,A
DO - 10.1109/tac.2026.3669444
PY - 2026///
SN - 0018-9286
TI - Hierarchical adaptive formation tracking control with uncertain time-varying exosystem
T2 - IEEE Transactions on Automatic Control
UR - http://dx.doi.org/10.1109/tac.2026.3669444
UR - https://doi.org/10.1109/tac.2026.3669444
ER -