Robust Formation Tracking Control for Noncooperative Heterogeneous Multiagent Systems.

Area of Science:

• Robotics
• Control Systems Engineering
• Distributed Systems

Background:

• Investigates robust formation tracking problems (FTPs) in noncooperative heterogeneous multiagent systems (MASs).
• Addresses challenges posed by heterogeneous agent parameters, state dimensions, and unknown external inputs for the leader agent.
• Considers uncertainties and disturbances affecting follower agents.

Purpose of the Study:

• To develop a robust formation tracking control method for noncooperative heterogeneous multiagent systems.
• To design a distributed extended state observer capable of estimating the leader's state and unknown external input.
• To ensure the formation tracking error can be minimized to a desired level.

Main Methods:

• Design of a distributed extended state observer to estimate leader states and external inputs.
• Proposal of a robust formation tracking control strategy for heterogeneous multiagent systems.
• Validation through numerical simulations and hardware-in-the-loop (HITL) simulations.

Main Results:

• The proposed distributed extended state observer successfully estimates the leader's state and unknown external input.
• The robust formation tracking control method achieves significant reduction in output formation tracking error.
• The control system demonstrates effectiveness in minimizing tracking errors to a small neighborhood around the origin.

Conclusions:

• The developed distributed observer and robust controller are effective for noncooperative heterogeneous multiagent systems.
• The proposed methods provide a viable solution for achieving accurate formation tracking under uncertainties and unknown inputs.
• Simulation results confirm the practical applicability and performance of the proposed approach.