Open AccessDistributed adaptive formation control for non‐identical non‐linear multi‐agents systems based on sliding mode
Author(s) -
Wang Jinhuan,
Zhang Xiang,
Xu Yong,
Yang Dedong
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.5630
Subject(s) - control theory (sociology) , observer (physics) , computer science , sliding mode control , position (finance) , tracking (education) , invariant (physics) , lti system theory , adaptive control , artificial neural network , control (management) , mode (computer interface) , nonlinear system , linear system , control engineering , mathematics , engineering , artificial intelligence , psychology , mathematical analysis , pedagogy , physics , finance , quantum mechanics , economics , mathematical physics , operating system
This study investigates the distributed control strategy for handling the time‐invariant and time‐varying formation tracking problem of a class of non‐linear nonidentical leader–follower multi‐agent systems with uncertainties and unknown external disturbances. Firstly, the neighbour‐based distributed finite‐time observers are proposed for the followers to estimate the position and velocity of the leader. Then, two novel distributed adaptive formation control algorithms based on the approximation capability of neural networks and sliding mode are developed. One can prove that, with the proposed observer and the control laws, all the followers will reach the desired time‐invariant or time‐varying formation tracking, and achieve the consistent velocity with the leader in spite of uncertainties and disturbances. Finally, illustrative simulation examples are given to verify the effectiveness of the obtained theoretical results.