Active disturbance rejection time-varying formation control for multi-agent systems with disturbances

被引：0

作者：

Wang, Le ^{[1
]}

Yao, Hui ^{[1
]}

Wang, Cheng ^{[1
]}

Xi, Jianxiang ^{[1
]}

Liu, Guangbin ^{[1
]}

机构：

[1] Rocket Force Univ Engn, Xian 710025, Peoples R China

来源：

PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019) | 2019年

关键词：

Multi-agent system; active disturbance rejection; time-varying formation; external disturbance; COOPERATIVE CONTROL; CONSENSUS;

D O I：

10.1109/ccdc.2019.8833166

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The current paper investigates the active disturbance rejection time-varying formation control for second-order multi-agent systems subjected to external disturbances. Firstly. a robust time-varying formation control protocol with the disturbance compensation is proposed. Then. an extended state observer is designed to estimate the disturbance compensation by the active disturbance rejection control method. Moreover, sufficient conditions for robust time-varying formation feasibility analysis and protocol design are shown, respectively. Finally, a numerical simulation is presented to verify the theoretical results.

引用

页码：2407 / 2412

页数：6

共 24 条

[1] Behavior-based formation control for multirobot teams [J].