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Practical time-varying output formation tracking for high-order nonlinear strict-feedback multi-agent systems with

Jianglong Yu1, Xiwang Dong2, Liang Han3

  • 1School of Automation Science and Electrical Engineering, Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing, 100191, PR China.

ISA Transactions
|August 14, 2019
PubMed
Summary

This study presents a novel method for multi-agent systems (MASs) to achieve practical time-varying output formation tracking (PTVOFT) despite control saturation and uncertainties. The proposed hierarchical distributed extended state observer (DESO) ensures accurate tracking for maneuvering leaders.

Keywords:
Hierarchical distributed extended state observerHigh-order nonlinear strict-feedback systemInput saturationOutput formation trackingPractical time-varying control

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Networked Systems

Background:

  • Multi-agent systems (MASs) face challenges in achieving coordinated formation tracking.
  • High-order nonlinear strict-feedback systems with control saturation and mismatched uncertainties are complex to control.
  • Existing methods often struggle with the dynamic maneuvering of leader agents and inter-agent communication constraints.

Purpose of the Study:

  • To develop a practical time-varying output formation tracking (PTVOFT) strategy for high-order nonlinear strict-feedback MASs.
  • To address challenges posed by control saturation and mismatched uncertain nonlinearities in agents.
  • To enable a multi-follower system to track a maneuvering leader agent accurately.

Main Methods:

  • Design of a hierarchical distributed extended state observer (DESO) to estimate unknown dynamics and uncertainties using local information.
  • Development of a PTVOFT protocol employing backstepping techniques and hierarchical DESOs.
  • Integration of distributed auxiliary systems to compensate for control input saturation.
  • Algorithm formulation summarizing the design process in three steps.

Main Results:

  • The proposed hierarchical DESO effectively approximates mismatched nonlinearities of both followers and the leader.
  • The PTVOFT protocol successfully confines the tracking error within a narrow range, even with control saturation.
  • Stability analysis using graph and Lyapunov theories confirms the robustness of the proposed methods.
  • Numerical simulations validate the effectiveness of the developed protocol and algorithm.

Conclusions:

  • The presented approach offers a robust solution for PTVOFT in complex MASs with significant uncertainties and constraints.
  • The hierarchical DESO and auxiliary systems effectively handle nonlinearities and saturation, improving tracking performance.
  • The study provides a systematic design methodology and demonstrates practical applicability through simulations.