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

Bulletin of the Polish Academy of Sciences. Technical Sciences

S.W. TongCollege of Automation, Beijing Union University, Beijing, 100101, ChinaOther articles by this author:De Gruyter OnlineGoogle Scholar¹  D.W. QianCorresponding authorSchool of Control and Computer Engineering, North China Electric Power University, Beijing, 102206, ChinaEmailOther articles by this author:De Gruyter OnlineGoogle Scholar²  C.D. LiSchool of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, 250101, ChinaOther articles by this author:De Gruyter OnlineGoogle Scholar³ 

[1] College of Automation, Beijing Union University, Beijing, 100101, China;School of Control and Computer Engineering, North China Electric Power University, Beijing, 102206, China;School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan, 250101, China

关键词: Keywords: multi-agent system;    formation control;    integral sliding mode control;    uncertainty;    nonlinear disturbance observer;    stability;   

DOI  :  10.1515/bpasts-2017-0005

学科分类：工程和技术（综合）

来源: Polska Akademia Nauk * Centrum Upowszechniania Nauki / Polish Academy of Sciences, Center for the Advancement of Science

【 摘 要 】

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.

【 授权许可】

Unknown