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Homogeneous Observer-Based Affine Formation Tracking

delete2025-11-01
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OA
AI
R
Rodrigo Aldana‐López *
M
Miguel Aranda
R
Rosario Aragüés
C
Carlos Sagüés
DOI：10.1002/rnc.70308delete
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摘要

摘要

En 中文
本文针对移动代理（称为跟随者）的控制问题进行研究，使其能够追踪由一组领导者指定的时间变化仿射编队。我们提出了一种分布式分层方法，由同质高阶滑模观测器和跟踪控制器组成。该观测器利用邻居信息在有限时间内估计跟随者的目标轨迹，并且对测量噪声具有鲁棒性。与现有方法相比，该方法能够适应异质跟随者动力学特性，独立于跟随者运动保持估计精度，并缓解颤振效应。连续时间和离散时间实现均能保证收敛性，这由形式化分析和数值仿真所支持。
Keyword:
distributed estimation
multi-agent formation control
sliding mode algorithms
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期刊

International Journal of Robust and Nonlinear Control 封面图
International Journal of Robust and Nonlinear Control
IF:
3.2
论文数:
7.0K
被引数:
1.4W

机构

C
cinvestav - centro de investigacion y de estudios avanzados del instituto politecnico nacional
学者数:
9.1K
论文数: 7.1K
被引数: 2
I
intel corporation
学者数:
63
论文数: 31
被引数: 0
引用论文

引用论文

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