In this paper, we investigate the distributed adaptive formation control problem of leader-following multi-agent systems where the measurements are subject to noises. A distributed LMS-like algorithm is proposed to estimate the relative position between the followers and the leader. By employing the “certainty equivalence” principle, an adaptive motion controller is designed to achieve the desired formation under dynamically changing interaction topologies. The incompatibility in simultaneously satisfying the persistent excitation condition required by localization estimators and accomplishing the control tasks makes the theoretical analysis challenging. In order to deal with this issue, an excited noise signal is embedded into the control law. We give the upper bounds of both the estimation errors and formation error of the closed-loop multi-agent system under the distributed adaptive control law. Finally, the numerical simulations are provided to demonstrate the effectiveness of our theoretical results. 

　　Publication: 

　　Automatica, Volume 150, April 2023, 110857 

　　Authors: 

　　Yujing Liu 

　　Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, PR China 

　　School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing 100049, PR China 

　　Zhixin Liu 

　　Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, PR China 

　　School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing 100049, PR China 

　　Email: lzx@amss.ac.cn