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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    Title :

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


    Contributors:
    Yu, Jianglong (author) / Dong, Xiwang (author) / Li, Qingdong (author) / Shao, Changxing (author) / Ren, Zhang (author)


    Publication date :

    2018-08-01


    Size :

    271114 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





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