Robust guaranteed cost time-varying formation tracking problems for high-order multi-agent systems under directed interaction topology are investigated. The external disturbances and unknown control input of the leader are considered simultaneously. A guaranteed cost function is constructed by considering the control input constraint and the formation tracking error constraint. A distributed robust guaranteed cost time-varying formation tracking protocol is proposed. Under the protocol, the robust $H_{\infty}$ disturbance attenuation performance and the guaranteed cost formation tracking performance can be achieved simultaneously. A design approach to designing the protocol is presented. Besides, the stability of the closed-loop multi-agent system is proved by using the Lyapunov theories. Finally, the effectiveness of the theoretical results are verified by a third-order simulation example.


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    Titel :

    Robust guaranteed cost time-varying formation tracking control for high-order multi-agent systems with external disturbances


    Beteiligte:
    Yu, Jianglong (Autor:in) / Dong, Xiwang (Autor:in) / Li, Qingdong (Autor:in) / Shao, Changxing (Autor:in) / Ren, Zhang (Autor:in)


    Erscheinungsdatum :

    01.08.2018


    Format / Umfang :

    271114 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch






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