Formation Control for Multi-Agent System with Disturbances Compensation

被引：2

作者：

Aldarmini, Sokrat ^{[1
]}

Vedyakov, Alexey ^{[1
]}

Kakanov, Mikhail ^{[1
]}

机构：

[1] ITMO Univ, Fac Control Syst & Robot, Kronverksky av 49, St Petersburg 197101, Russia

来源：

IFAC PAPERSONLINE | 2022年 / 55卷 / 13期

基金：

俄罗斯科学基金会;

关键词：

multi-agent systems; formation control; distributed estimation; robust control;

D O I：

10.1016/j.ifacol.2022.07.263

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper considers the formation control of single-integrator modeled agents with unknown disturbances. Two cases are investigated. In the first case, the connected agents are assumed to be able to measure relative displacements between each other. The control law for this case is designed to ensure a stable formation with a predefined rejection performance for disturbances. In the second case, additionally, one agent is assumed to be able to sense its position in a global coordinate system. The control law for this case is designed to ensure the stability of agents' positions with respect to predefined desired positions. Also, a rejection performance for disturbances is ensured. Simulation results are provided to support the theoretical analysis for the proposed control algorithms. Copyright (C) 2022 The Authors.

引用

页码：222 / 227

页数：6

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