Robust formation control for uncertain multi-agent systems |
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| Institution: | 1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China;2. Science and Technology on Aircraft Control Laboratory, Beijing 100191, China;3. State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing 100191, China |
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| Abstract: | Robust formation problems for linear multi-agent systems with uncertainties and external disturbances are investigated in this paper. The model of each agent can be described by a nominal linear system combined with external disturbances and uncertainties which include parameter perturbations and nonlinear uncertainties. A more general bound of uncertainties is introduced. A robust formation controller, which consists of a nominal controller and a robust compensator, is proposed to achieve the desired state formation and restrain the influence of uncertainties and disturbances. Furthermore, sufficient conditions for time-varying formation feasibility are introduced and proved. Finally, a numerical example is provided to demonstrate the theoretical results. |
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