Guaranteed Cost Time-Varying Formation Control of Multiagent Systems Under an Output Disturbance Observer Approach

被引：0

作者：

Wang, Chen ^{[1
]}

Qin, Wen ^{[2
]}

Li, Liwei ^{[2
]}

Shen, Mouquan ^{[2
]}

机构：

[1] Nanjing Tech Univ, Sch Mech & Power Engn, Nanjing, Peoples R China

[2] Nanjing Tech Univ, Coll Elect Engn & Control Sci, Nanjing, Peoples R China

来源：

MATHEMATICAL METHODS IN THE APPLIED SCIENCES | 2025年

基金：

中国国家自然科学基金;

关键词：

disturbance observer; guaranteed cost control; multiagent systems; FORMATION TRACKING; CONSENSUS;

D O I：

10.1002/mma.11060

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

The paper addresses the guaranteed cost time-varying formation tracking control of multiagent systems with unknown external disturbance and coupling weights. To tackle disturbances produced by an exogenous system, an improved output disturbance observer is designed to enhance estimation accuracy. An edge-based adaptive controller is constructed to compensate this disturbance and realize the desired formation tracking. Based on Lyapunov stability, several sufficient criteria are established to guarantee feasible time-varying formation tracking of the closed-loop system within the prescribed cost. Finally, an example is simulated to demonstrate the effectiveness of the proposed approach.

引用

页码：12761 / 12770

页数：10

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