Open AccessRobust formation tracking for uncertain multi‐agent systems with unknown leader input
Author(s) -
Chen Jintao,
Shi Zongying,
Zhong Yisheng
Publication year - 2020
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.2019.0862
Subject(s) - control theory (sociology) , tracking (education) , computer science , robust control , tracking error , multi agent system , linear system , tracking system , robustness (evolution) , control (management) , control engineering , control system , mathematics , engineering , artificial intelligence , kalman filter , psychology , pedagogy , electrical engineering , mathematical analysis , biochemistry , chemistry , gene
This study investigates the robust formation tracking problems for uncertain multi‐agent systems(MASs). The leader is assumed to be linear case and the dynamics of the followers can be modelled as a high‐order linear system with heterogeneous uncertainties and external disturbances. Only part of the followers can get the states of the leader and the control input of the leader cannot be obtained by any followers. Based on the relative information among agents, robust formation tracking protocols are proposed to achieve the desired formation tracking. It can be proven that the formation tracking error can be made arbitrarily small if the formation tracking feasibility condition holds. Finally, a simulation example is provided to illustrate the obtained theoretical results.