Formation control with disturbance rejection for a class of Lipschitz nonlinear systems

被引：0

作者：

Chunyan WANG ^{[1
,2
]}

Zongyu ZUO ^{[3
]}

Qinghai GONG ^{[4
,2
]}

Zhengtao DING ^{[1
,2
]}

机构：

[1] School of Electrical and Electronic Engineering, University of Manchester, Sackville Street Building

[2] Sino-British Joint Advanced Control System Technology Laboratory, James Lighthill Building

[3] The Seventh Research Division, and Science and Technology on Aircraft Control Laboratory, Beihang University

[4] Beijing Aerospace Automatic Control Institute

来源：

Science China(Information Sciences) | 2017年 / 60卷 / 07期

基金：

中国国家自然科学基金;

关键词：

multi-agent systems; formation control; Lipschitz nonlinearity; disturbance rejection;

D O I：

暂无

中图分类号：

TP13 [自动控制理论]; TP18 [人工智能理论];

学科分类号：

0711 ; 071102 ; 0811 ; 081101 ; 081103 ; 081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, we consider the leader-follower formation control problem for general multi-agent systems with Lipschitz nonlinearity and unknown disturbances. To deal with the disturbances, a disturbance observer-based control strategy is developed for each follower. Then, a time-varying formation protocol is proposed based on the relative state of the neighbouring agents and sufficient conditions for global stability of the formation control are identified using Lyapunov method in the time domain. The proposed strategy and analysis guarantee that all signals in the closed-loop dynamics are uniformly ultimately bounded and the formation tracking errors converge to an arbitrarily small residual set. Finally, the validity of the proposed controller is demonstrated through a numerical example.

引用

页码：29 / 39

页数：11

共 15 条

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