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

[11] High precision formation control of mobile robots using virtual structures [J].

Lewis, MA ;

Tan, KH .

AUTONOMOUS ROBOTS, 1997, 4 (04) :387-403

[12] An Affection-Based Dynamic Leader Selection Model for Formation Control in Multirobot Systems [J].

Li, Feng ;

Ding, Yongsheng ;

Zhou, Mengchu ;

Hao, Kuangrong ;

Chen, Lei .

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2017, 47 (07) :1217-1228

[13] Robust Consensus of Linear Feedback Protocols Over Uncertain Network Graphs [J].

Li, Zhongkui ;

Chen, Jie .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2017, 62 (08) :4251-4258

[14] Robust Formation Control for Multiple Quadrotors With Nonlinearities and Disturbances [J].

Liu, Hao ;

Ma, Teng ;

Lewis, Frank L. ;

Wan, Yan .

IEEE TRANSACTIONS ON CYBERNETICS, 2020, 50 (04) :1362-1371

[15] Control of Multiple UAVs for Persistent Surveillance: Algorithm and Flight Test Results [J].

Nigam, Nikhil ;

Bieniawski, Stefan ;

Kroo, Ilan ;

Vian, John .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2012, 20 (05) :1236-1251

[16] A novel observer-based formation for nonlinear multi-agent systems with time delay and intermittent communication [J].

Qin, Wen ;

Liu, Zhongxin ;

Chen, Zengqiang .

NONLINEAR DYNAMICS, 2015, 79 (03) :1651-1664

[17] Time-varying formation control of a collaborative heterogeneous multi agent system [J].

Rahimi, Reihane ;

Abdollahi, Farzaneh ;

Naqshi, Karo .

ROBOTICS AND AUTONOMOUS SYSTEMS, 2014, 62 (12) :1799-1805

[18] Consensus strategies for cooperative control of vehicle formations [J].

Ren, W. .

IET CONTROL THEORY AND APPLICATIONS, 2007, 1 (02) :505-512

[19]

Wang L., 2018, IEEE ACCESS, DOI [10.1109/ACCESS.2018.2854848, DOI 10.1109/AC-CESS.2018.2854848]

[20]

Wu Z., 2017, IEEE T CIRCUIT SYSTE, DOI [10.1109/TC-SI.2017.2777504, DOI 10.1109/TC-SI.2017.2777504]

← 1 2 3 →