Robust Formation Control for Nonlinear Heterogeneous Multi-agent Systems based on Adaptive Event-triggered Strategy

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dc.contributor.authorYan, B.
dc.contributor.authorShi, P.
dc.contributor.authorLim, C.C.
dc.date.issued2022
dc.descriptionDate of Publication: 23 August 2021; date of current version 13 October 2022.
dc.description.abstractIn 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.
dc.description.statementofresponsibilityBing Yan, Peng Shi, Cheng-Chew Lim
dc.identifier.citationIEEE Transactions on Automation Science and Engineering, 2022; 19(4):2788-2800
dc.identifier.doi10.1109/TASE.2021.3103877
dc.identifier.issn1545-5955
dc.identifier.issn1558-3783
dc.identifier.orcidYan, B. [0000-0003-3945-3069]
dc.identifier.orcidShi, P. [0000-0001-6295-0405] [0000-0001-8218-586X] [0000-0002-0864-552X] [0000-0002-1358-2367] [0000-0002-5312-5435]
dc.identifier.orcidLim, C.C. [0000-0002-2463-9760]
dc.identifier.urihttps://hdl.handle.net/2440/134022
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers
dc.relation.granthttp://purl.org/au-research/grants/arc/DP170102644
dc.rights© 2021 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information.
dc.source.urihttps://doi.org/10.1109/tase.2021.3103877
dc.subjectAdaptive observer; event-triggered strategy; heterogeneous nonlinear multiagent systems (MASs); robust formation control.
dc.titleRobust Formation Control for Nonlinear Heterogeneous Multi-agent Systems based on Adaptive Event-triggered Strategy
dc.typeJournal article
pubs.publication-statusPublished

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