Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode

• Autorzy: Qian D. W. , Tong S. W. , Li C. D.

Identyfikatory

DOI

10.1515/bpasts-2017-0005

• Języki publikacji: EN

Abstrakty

EN

This paper investigates the formation control problem of multiple agents. The formation control is founded on leader-following approaches. The method of integral sliding mode control is adopted to achieve formation maneuvers of the agents based on the concept of graph theory. Since the agents are subject to uncertainties, the uncertainties also challenge the formation-control design. Under a mild assumption that the uncertainties have an unknown bound, the technique of nonlinear disturbance observer is utilized to tackle the issue. According to a given communication topology, formation stability conditions are investigated by the observer-based integral sliding mode formation control. From the perspective of Lyapunov, not only is the formation stability guaranteed, but the desired formation of the agents is also realized. Finally, some simulation results are presented to show the feasibility and validity of the proposed control scheme through a multi-agent platform.

Słowa kluczowe

EN

multi-agent system; formation control; integral sliding mode control; uncertainty; nonlinear disturbance observer; stability

PL

system wieloagentowy; kontrola formacji; integralne sterowanie ślizgowe; niepewność; nieliniowy obserwator zakłóceń; stabilność

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2017
• Tom: Vol. 65, nr 1
• Strony: 35--44
• Opis fizyczny: Bibliogr. 35 poz., rys., wykr.

Twórcy

autor

Qian D. W.

• School of Control and Computer Engineering, North China Electric Power University, Beijing, 102206, China

autor

Tong S. W.

• College of Automation, Beijing Union University, Beijing, 100101, China

autor

Li C. D.

• School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, 250101, China

Bibliografia

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).