Wyniki wyszukiwania - BazTech

Ograniczanie wyników

1 Bulletin of the Polish Academy of Sciences. Technical Sciences

1 2017

Znaleziono wyników: 1

Liczba wyników na stronie

Wyniki wyszukiwania

Wyszukiwano:
w słowach kluczowych: nieliniowy obserwator zakłóceń

Sortuj według:

Ogranicz wyniki do:

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

Qian D. W., Tong S. W., Li C. D.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2017

Vol. 65, nr 1

35--44

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.