Robust Formation Control for Nonlinear Heterogeneous Multi-agent Systems based on Adaptive Event-triggered Strategy
Date
2022
Authors
Yan, B.
Shi, P.
Lim, C.C.
Editors
Advisors
Journal Title
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Type:
Journal article
Citation
IEEE Transactions on Automation Science and Engineering, 2022; 19(4):2788-2800
Statement of Responsibility
Bing Yan, Peng Shi, Cheng-Chew Lim
Conference Name
Abstract
In this article, a distributed adaptive event-triggered formation control strategy is proposed for unified nonlinear heterogeneous multiagent systems under uncertainties and disturbances to achieve time-varying formations. To reduce the frequency of data transmission, a distributed dual adaptive observer with an event-triggered strategy is developed to estimate the states of a reference exosystem. Without incurring prior global information about a communication graph, a novel robust formation controller, with dynamic distributed compensators for uncertainties and disturbances, is designed based on an observer result and a nonlinear internal control principle. Finally, both simulation and experiment are conducted for tracking and patrolling formation to verify the effectiveness of the proposed formation control strategy and its robustness.
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Dissertation Note
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Date of Publication: 23 August 2021; date of current version 13 October 2022.
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© 2021 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information.