Robust Average Formation Tracking for Multi-Agent Systems With Multiple Leaders

被引：1
作者：
Jin, Tao [1 ]
Liu, Zhi-Wei [2 ]
Zhou, Hong [1 ]
Guan, Zhi-Hong [2 ]
Qin, Yuzhen [3 ]
Wu, Yonghong [2 ]
机构：
[1] Wuhan Univ, Dept Automat, Wuhan 430072, Hubei, Peoples R China
[2] Huazhong Univ Sci & Technol, Coll Automat, Wuhan 430074, Hubei, Peoples R China
[3] Univ Groningen, ENTEG, Fac Sci & Engn, NL-9747 AG Groningen, Netherlands
来源：
IFAC PAPERSONLINE | 2017年 / 50卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Formation control; Robust formation tracking; Multi-agent systems; Lyapunov analysis; CONSENSUS;
D O I：
10.1016/j.ifacol.2017.08.404
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 formation tracking problem of the multi-agent system under disturbances and unmodeled uncertainties has been studied. An identifier-based robust control algorithm using the neighboring relative information has been proposed to ensure the followers to maintain a given, and time-varying formation and track the average state of the leaders at the same time. Some sufficient conditions for the second-order multi-agent system with multiple leaders in the presence of disturbances and unmodeled uncertainties have been proposed based on the graph theory and the Lyapunov method. Numerical simulations are provided to testify the validity of the algorithm. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：2427 / 2432
页数：6
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