Distributed adaptive formation control for non-identical non-linear multi-agents systems based on sliding mode
Distributed adaptive formation control for non-identical non-linear multi-agents systems based on sliding mode
复制标题
基于滑模的非同质非线性多智能体系统分布式自适应编队控制
DOI：
10.1049/iet-cta.2018.5630
复制
发表时间：
2019
影响因子：
2.6
通讯作者：
Yang Dedong
中科院分区：
文献类型：
--
作者：
Wang Jinhuan;Zhang Xiang;Xu Yong;Yang Dedong
研究了一类具有不确定性和未知外部干扰的非线性非等同主从多智能体系统的时不变和时变编队跟踪问题的分布式控制策略.首先，提出了基于邻居的分布式有限时间观测器用于跟随者估计领导者的位置和速度。在此基础上，提出了两种基于神经网络逼近能力和滑模控制的分布式自适应编队控制算法。可以证明，与建议的观测器和控制律，所有的追随者将达到所需的时不变或时变的编队跟踪，并实现一致的速度与领导者，尽管不确定性和干扰。最后，通过仿真实例验证了理论结果的有效性.
This study investigates the distributed control strategy for handling the time‐invariant and time‐varying formation tracking problem of a class of non‐linear nonidentical leader–follower multi‐agent systems with uncertainties and unknown external disturbances. Firstly, the neighbour‐based distributed finite‐time observers are proposed for the followers to estimate the position and velocity of the leader. Then, two novel distributed adaptive formation control algorithms based on the approximation capability of neural networks and sliding mode are developed. One can prove that, with the proposed observer and the control laws, all the followers will reach the desired time‐invariant or time‐varying formation tracking, and achieve the consistent velocity with the leader in spite of uncertainties and disturbances. Finally, illustrative simulation examples are given to verify the effectiveness of the obtained theoretical results.