Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties
Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties
复制标题
具有非线性不确定性的群体系统的鲁棒时变输出形成控制
DOI：
10.1155/2020/2069170
复制
发表时间：
2020-04-10
期刊：
影响因子：
2.3
通讯作者：
Sun, Changyin
中科院分区：
文献类型：
--
作者：
Chai, Xiaofeng;Wang, Qing;Sun, Changyin
Time-varying output formation control problems for high-order time-invariant swarm systems are studied with nonlinear uncertainties and directed network topology in this paper. A robust controller which consists of a nominal controller and a robust compensator is applied to achieve formation control. The nominal controller based on the output feedback is designed to achieve desired time-varying formation properties for the nominal system. And the robust compensator based on the robust signal compensator technology is constructed to restrain nonlinear uncertainties. The time-varying formation problem is transformed into the stability problem. And the formation errors can be arbitrarily small with expected convergence rate. Numerical examples are provided to illustrate the effectiveness of the proposed strategy.
