非匹配不确定性条件下的编队分布式协同控制

Jian Zhou; Chunlin Gong; Liangxian Gu; Hua Su

doi:10.3969/j.issn.1001-506X.2019.03.24

非匹配不确定性条件下的编队分布式协同控制

Translated title of the contribution: Distributed synchronization of leader-follower systems with unmatched uncertainties

Jian Zhou, Chunlin Gong, Liangxian Gu, Hua Su

School of Astronautics

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

Tracking control problem of the leader-follower multi-agent systems with unmatched uncertainties and input saturation is investigated. An auxiliary system and extended state observer is imported to approximate system position states. Unknown disturbances of system are estimated by a sliding-mode disturbance observer. A sliding mode disturbance observer based control protocol is proposed and the stability is guaranteed via Lyapunov theory analysis. In addition, the effect of unknown saturation input can be estimated and compensated by the sliding mode disturbance observer. The feasibility of the theoretical analysis is validated through a numerical simulation.

Translated title of the contribution	Distributed synchronization of leader-follower systems with unmatched uncertainties
Original language	Chinese (Traditional)
Pages (from-to)	636-642
Number of pages	7
Journal	Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics
Volume	41
Issue number	3
DOIs	https://doi.org/10.3969/j.issn.1001-506X.2019.03.24
State	Published - 1 Mar 2019

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abstract = "Tracking control problem of the leader-follower multi-agent systems with unmatched uncertainties and input saturation is investigated. An auxiliary system and extended state observer is imported to approximate system position states. Unknown disturbances of system are estimated by a sliding-mode disturbance observer. A sliding mode disturbance observer based control protocol is proposed and the stability is guaranteed via Lyapunov theory analysis. In addition, the effect of unknown saturation input can be estimated and compensated by the sliding mode disturbance observer. The feasibility of the theoretical analysis is validated through a numerical simulation.",

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T1 - 非匹配不确定性条件下的编队分布式协同控制

AU - Zhou, Jian

AU - Gong, Chunlin

AU - Gu, Liangxian

AU - Su, Hua

PY - 2019/3/1

Y1 - 2019/3/1

N2 - Tracking control problem of the leader-follower multi-agent systems with unmatched uncertainties and input saturation is investigated. An auxiliary system and extended state observer is imported to approximate system position states. Unknown disturbances of system are estimated by a sliding-mode disturbance observer. A sliding mode disturbance observer based control protocol is proposed and the stability is guaranteed via Lyapunov theory analysis. In addition, the effect of unknown saturation input can be estimated and compensated by the sliding mode disturbance observer. The feasibility of the theoretical analysis is validated through a numerical simulation.

AB - Tracking control problem of the leader-follower multi-agent systems with unmatched uncertainties and input saturation is investigated. An auxiliary system and extended state observer is imported to approximate system position states. Unknown disturbances of system are estimated by a sliding-mode disturbance observer. A sliding mode disturbance observer based control protocol is proposed and the stability is guaranteed via Lyapunov theory analysis. In addition, the effect of unknown saturation input can be estimated and compensated by the sliding mode disturbance observer. The feasibility of the theoretical analysis is validated through a numerical simulation.

KW - Multi-agent system

KW - Sliding-mode observer

KW - Tracking control

KW - Unmatched uncertainties

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U2 - 10.3969/j.issn.1001-506X.2019.03.24

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JO - Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics

JF - Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics

IS - 3

ER -

非匹配不确定性条件下的编队分布式协同控制

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