Finite-time Containment Control of Second-order Multi-agent Systems With Mismatched Disturbances

被引：0
|
作者：
Li Y.-L. [1 ]
Yang H.-Y. [1 ]
Liu F. [1 ]
Yang Y.-Z. [1 ,2 ]
机构：
[1] School of Information and Electrical Engineering, Ludong University, Yantai
[2] School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2019年 / 45卷 / 09期
基金：
中国国家自然科学基金;
关键词：
Containment control; Finite time; Mismatched disturbances; Multiple leaders;
D O I：
10.16383/j.aas.2018.c170571
中图分类号：
学科分类号：
摘要：
In this paper, a finite-time containment control algorithm is studied for the second-order multi-agent systems with mismatched disturbances. By applying the modern control theory, a nonlinear observer is designed to estimate the unknown states and disturbances of the systems. On the basis of the state estimation, a cooperative control algorithm based on disturbance observers for multi-agent systems is constructed. By applying the algebraic graph theory and homogeneous theory, the finite-time containment control of the second-order multi-agent systems is analyzed. The validity of containment control algorithm based on the disturbance observer is verified in simulation examples, where the motion states of the system eventually converge to the target area surrounded by multiple leaders. Copyright © 2019 Acta Automatica Sinica. All rights reserved.
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页码：1783 / 1790
页数：7
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