Robust consensus tracking of second-order nonlinear systems using relative position information by K-filter and disturbance observer based control
Robust consensus tracking of second-order nonlinear systems using relative position information by K-filter and disturbance observer based control
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DOI：
10.1080/00207721.2018.1533600
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发表时间：
2018-10
影响因子：
4.3
通讯作者：
Zi‐Jiang Yang
中科院分区：
文献类型：
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作者：
Zi‐Jiang Yang
摘要研究了二阶不确定非线性系统在有向通信图中的分布式一致跟踪控制问题，该通信图中包含一棵生成树，其中领导节点是根节点。假设跟随器仅接收来自邻居的相对位置。为了设计一致跟踪控制器，在每个跟随器中，引入一组K滤波器，从而避免了速度估计的必要性。然后，我们可以表达每个跟随器的跟踪误差动态作为一个二阶系统的不匹配的不确定性。因此，我们可以设计一个鲁棒的共识跟踪控制器的每个跟随器通过使用的组合的backstepping设计和基于干扰观测器的控制只使用相对位置信息。理论分析表明，在系统状态逃离可行域之前，DOB的估计误差可以非常快地衰减到足够小。然后，我们表明，所有的追随者的状态跟踪的领导者与任意小的最终误差界。最后通过仿真实例验证了该方法的有效性。
ABSTRACT This work considers the problem of distributed consensus tracking control of second-order uncertain nonlinear systems under a directed communication graph which contains a spanning tree, where the leader node is the root. It is assumed that the followers receive only the relative positions from the neighbours. For the purpose of consensus tracking controller design, in each follower, a group of K-filters is introduced so that the necessity of velocity estimating is avoided. Then we can express each follower's tracking error dynamics as a second-order system with mismatched uncertainties. And hence we can design a robust consensus tracking controller for each follower by using the combination of the backstepping design and the disturbance observer based control using only relative position information. Theoretical analysis is performed to show that the DOBs' estimation errors can be made to decay to be sufficiently small very quickly before the system states escape from the feasible region. Then we show that all the followers' states track those of the leader with arbitrarily small ultimate error bounds. And simulation examples are provided to demonstrate the performance of the proposed method.