Formation control for nonlinear multi-agent systems by robust output regulation

被引：30
|
作者：
Li, Weixun [1 ]
Chen, Zengqiang [1 ,2 ]
Liu, Zhongxin [1 ]
机构：
[1] Nankai Univ, Coll Comp & Control Engn, Tianjin Key Lab Intelligent Robot, Tianjin 300071, Peoples R China
[2] Civil Aviat Univ China, Coll Sci, Tianjin 300300, Peoples R China
来源：
NEUROCOMPUTING | 2014年 / 140卷
基金：
中国国家自然科学基金;
关键词：
Multi-agent system; Distributed formation control; Robust output regulation; Internal principal; CONSENSUS;
D O I：
10.1016/j.neucom.2014.03.030
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, the formation control problem of multi-agent systems with nonlinear dynamic is considered. Output regulation problem of nonlinear systems is generalized to the formation control problem of nonlinear multi-agent systems. The reference inputs or disturbance signals are generated by an exo-system, which can be considered as an active leader in the considered multi-agent systems. When some agents cannot obtain the information from the exo-system, the distributed nonlinear feedback controller is designed. Based on the internal model principle, the distributed output regulation formation control problem can be solved by solving the regulator equations. The illustrative example demonstrates the effectiveness of the main results. (C) 2014 Elsevier B.V. All rights reserved.
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页码：114 / 120
页数：7
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