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Fully distributed time-varying formation tracking control for linear multi-agent systems with unknown external

Liya Dou1, Kang Wang1, Jing Wang2

  • 1College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, 100029, China.

ISA Transactions
|December 3, 2024
PubMed
Summary

This study presents a distributed control strategy for multi-agent systems to achieve time-varying formation tracking despite unknown leader inputs and external disturbances. The method ensures robust formation control without needing global communication topology information.

Keywords:
Adaptive disturbance observerFully distributed controllerMulti-agent systemsTime-varying formation tracking

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Area of Science:

  • Control Theory
  • Robotics
  • Networked Systems

Background:

  • Multi-agent systems (MAS) face challenges in coordinated tasks like formation tracking.
  • Unknown leader inputs and external disturbances degrade system performance and stability.
  • Existing methods often require global information or struggle with dynamic environments.

Purpose of the Study:

  • To address the time-varying formation tracking (TVFT) problem for linear MAS.
  • To develop a distributed control protocol robust to unknown leader inputs and external disturbances.
  • To ensure MAS can achieve desired time-varying formations under uncertain conditions.

Main Methods:

  • Design of an adaptive disturbance observer and a state observer to estimate unknown states and disturbances.
  • Development of a fully distributed TVFT protocol with adaptive coupling parameters.
  • Modification of the controller to a continuous version to mitigate chattering.

Main Results:

  • The proposed distributed controller enables asymptotic time-varying formation tracking for MAS with a directed spanning tree.
  • The system effectively rejects unknown external disturbances from unknown exosystems.
  • The controller does not require global knowledge of the communication topology.

Conclusions:

  • The developed adaptive distributed control strategy effectively solves the TVFT problem under significant uncertainties.
  • The method offers robustness against unknown disturbances and leader inputs in directed network topologies.
  • The continuous controller modification successfully addresses potential chattering issues.