Distributed adaptive cooperative tracking control of multi-agent system with weak communication

被引：1

作者：

Zhang P. ^{[1
]}

Xue H. ^{[1
]}

Gao S. ^{[1
]}

Zuo X. ^{[1
]}

机构：

[1] School of Automation, Northwestern Polytechnical University, Xi'an

来源：

Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | 2021年 / 43卷 / 02期

关键词：

Back-stepping technology; Consensus tracking; Multi-agent system; Rapid convergence; Weak communication;

D O I：

10.12305/j.issn.1001-506X.2021.02.23

中图分类号：

学科分类号：

摘要：

A novel distributed adaptive backstepping control method is proposed for high-order strict feedback nonlinear multi-agent systems with weak communication. And the cooperative tracking control problem of the system is studied. Firstly, five agents are taken as the controlled objects, one of them is formed the "leader follower" formation mode in a distributed structure. The leader's velocity is taken as the forward speed of the whole formation system, and the other agents follow the leader's formation movement as followers. Secondly, the adaptive inversion method is used to estimate the uncertain parameters of the system due to weak communication, and a compensation tracking control law is designed for the system, so that the agents in the system can realize autonomous tracking of time-varying reference trajectory, and avoid obstacles with the optimal trajectory ultimately maintain the desired formation motion. Then, according to Lyapunov stability theory, the effectiveness of the proposed control law is proved. Finally, the simulation results show that the proposed control law can make the lateral and longitudinal tracking errors and the relative errors of the reference trajectory converge rapidly, and keep the system asymptotically stable in the tracking process. © 2021, Editorial Office of Systems Engineering and Electronics. All right reserved.

引用

页码：487 / 498

页数：11

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