Linear-Extended-State-Observer Based Pinning Control of Nonlinear Multi-Robots System

被引：2
作者：
Ma, Zhengguang [1 ,2 ]
Xiao, Yongfei [1 ,2 ]
Wang, Peng [1 ,2 ]
Zhao, Yongguo [1 ,2 ]
机构：
[1] Qilu Univ Technol, Shandong Acad Sci, Inst Automat, Jinan 250014, Peoples R China
[2] Shandong Prov Key Lab Robot & Mfg Automat Technol, Jinan 250014, Peoples R China
来源：
IEEE ACCESS | 2020年 / 8卷
关键词：
Observers; Multi-robot systems; Robot kinematics; Protocols; Synchronization; Mobile robots; Linear-extended-state-observer; pinning control; multi-robots system; state synchronization; nonlinear system; DISTURBANCE REJECTION CONTROL; CONSENSUS; NETWORKS; SYNCHRONIZATION; LEADER; AGENTS;
D O I：
10.1109/ACCESS.2020.3014399
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the pinning control problem of nonlinear multi-robots system (MRS) is investigated. By introducing Linear-Extended-State-Observer (LESO) approach, a LESO based pinning control algorithm is proposed for the multi-robots system with non-identical unknown nonlinear dynamics. By pinning one robot with small coupling strength, a LESO based control algorithm has been developed to guarantee the nonlinear multi-robots system to reach synchronisation when the nonlinear function is given. Furthermore, the tracking errors of the following robots are bounded when the nonlinear function is unknown. Finally, numerical simulations with different scenarios are presented to illustrate the effectiveness of the theoretical results.
引用
收藏
页码：144522 / 144528
页数：7
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