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Robust formation control for uncertain multi-agent systems
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DOI：10.1016/j.jfranklin.2019.07.014.png)
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Abstract
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Robust formation problems for linear multi-agent systems with uncertainties and external disturbances are investigated in this paper. The model of each agent can be described by a nominal linear system combined with external disturbances and uncertainties which include parameter perturbations and nonlinear uncertainties. A more general bound of uncertainties is introduced. A robust formation controller, which consists of a nominal controller and a robust compensator, is proposed to achieve the desired state formation and restrain the influence of uncertainties and disturbances. Furthermore, sufficient conditions for time-varying formation feasibility are introduced and proved. Finally, a numerical example is provided to demonstrate the theoretical results. (C) 2019 Published by Elsevier Ltd on behalf of The Franklin Institute.
Keywords:
VARYING FORMATION CONTROL
H-INFINITY CONSENSUS
FORMATION TRACKING
LEADER
STRATEGIES
DYNAMICS
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