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Robust Formation Control for Multiagent Systems Based on Adaptive Observers
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AI
DOI：10.1109/JSYST.2021.3127579.png)
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Abstract
En 中文
In this article, a distributed robust control strategy is proposed for heterogeneous multiagent systems subject to uncertainties and disturbances to achieve time-varying formations under static and switching topologies. Without prior knowledge of global information on communication graphs, a distributed observer is developed to estimate the state information of a reference system. Internal model-based robust formation controllers for homogeneous disturbances, with and without unknown heterogeneous disturbances, are designed using the Riccati equation approach. Finally, a case study of bushfire edge tracking and patrolling is presented, and the effectiveness and robustness of the formation control developed strategy are verified by simulations.
Keywords:
Observers
Control systems
Topology
Uncertainty
Task analysis
Multi-agent systems
Switches
Adaptive observers
heterogeneous multiagent systems (MAS)
robust formation control
uncertainties and disturbances
Journal
I
IF:
2.4
Papers:
4.5K
Citations:
387