Formation control of multiagent systems based on adaptive distributed filtering observer

被引：0

作者：

Gao H.-L. ^{[1
]}

Li W. ^{[1
]}

Memg W. ^{[2
]}

Cai H. ^{[1
]}

机构：

[1] School of Automation Science and Engineering, South China University of Technology, Guangdong, Guangzhou

[2] School of Automation, Guangdong University of Technology, Guangdong, Guangzhou

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2024年 / 41卷 / 04期

基金：

中国国家自然科学基金;

关键词：

cooperative output regulation; distributed filtering observer; formation control; linear multiagent systems;

D O I：

10.7641/CTA.2023.20639

中图分类号：

学科分类号：

摘要：

In this paper, we consider the formation control problem for linear multiagent systems where the output information of the global command generator is subject to channel disturbance. First, the formation control problem is formulated under the cooperative output regulation control framework. Second, to deal with the disturbed output information of the global command generator, a novel output-based adaptive distributed filtering observer is proposed, featuring less information exchange over the communication network and complete rejection of the channel disturbance. Finally, certainty equivalence output feedback control law is synthesized to solve the formation control problem of the linear multiagent systems in a distributed way. Simulation results are given to validate the control performance. © 2024 South China University of Technology. All rights reserved.

引用

页码：729 / 737

页数：8

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