Adaptive surrounding control for linear multi-agent systems with unknown disturbance

9th International Conference on Mechatronics and Manufacturing

机械制造;无线电电子学

Sharghi, A.^1 ; Baradarannia, M.^1 ; Hashemzadeh, F.^1

Department of Control Engineering, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran^1

关键词: Adaptive laws;    Control problems;    Geometric center;    Lyapunov stability theory;    Non-identical;    Parameter vectors;    Simulation example;    Unknown disturbance;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/361/1/012024/pdf
DOI  :  10.1088/1757-899X/361/1/012024

来源: IOP

【 摘 要 】

This paper deals with the surrounding control problem of multi-agent systems with linear non-identical dynamics for each agent. In these dynamics, a non-identical time-varying term is considered for each agent. It is assumed that, there exist unknown parameter vectors in time-varying terms of the followers. First, an estimator is introduced to estimate the geometric center of the leaders and then, an adaptive law is proposed to compensate the unknown parameter vector of the followers. Using Lyapunov stability theory, the stability of the system with the proposed control law is studied. Finally, a simulation example is given to show the effectiveness of theoretical results.