Robust Formation Control for Multiagent Systems Based on Adaptive Observers

被引：20

作者：

Yan, Bing ^{[1
]}

Shi, Peng ^{[1
]}

Lim, Cheng-Chew ^{[1
]}

Wu, Chengfu ^{[2
]}

机构：

[1] Univ Adelaide, Sch Elect & Elect Engn, Adelaide, SA 5005, Australia

[2] Northwestern Polytech Univ, Sch Automat, Xian 710072, Peoples R China

来源：

IEEE SYSTEMS JOURNAL | 2022年 / 16卷 / 02期

基金：

澳大利亚研究理事会;

关键词：

Observers; Control systems; Topology; Uncertainty; Task analysis; Multi-agent systems; Switches; Adaptive observers; heterogeneous multiagent systems (MAS); robust formation control; uncertainties and disturbances; COOPERATIVE OUTPUT REGULATION; VARYING FORMATION CONTROL; FORMATION TRACKING; CONSENSUS; AVOIDANCE;

D O I：

10.1109/JSYST.2021.3127579

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 article, a distributed robust control strategy is proposed for heterogeneous multiagent systems subject to uncertainties and disturbances to achieve time-varying formations under static and switching topologies. Without prior knowledge of global information on communication graphs, a distributed observer is developed to estimate the state information of a reference system. Internal model-based robust formation controllers for homogeneous disturbances, with and without unknown heterogeneous disturbances, are designed using the Riccati equation approach. Finally, a case study of bushfire edge tracking and patrolling is presented, and the effectiveness and robustness of the formation control developed strategy are verified by simulations.

引用

页码：3139 / 3150

页数：12

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