Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties

Author:

Chai Xiaofeng1ORCID,Wang Qing2,Yu Yao1ORCID,Sun Changyin3

Affiliation:

1. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China

2. School of Automation, Beijing Institute of Technology, Beijing 100081, China

3. School of Automation, Southeast University, Nanjing 210096, China

Abstract

Time-varying output formation control problems for high-order time-invariant swarm systems are studied with nonlinear uncertainties and directed network topology in this paper. A robust controller which consists of a nominal controller and a robust compensator is applied to achieve formation control. The nominal controller based on the output feedback is designed to achieve desired time-varying formation properties for the nominal system. And the robust compensator based on the robust signal compensator technology is constructed to restrain nonlinear uncertainties. The time-varying formation problem is transformed into the stability problem. And the formation errors can be arbitrarily small with expected convergence rate. Numerical examples are provided to illustrate the effectiveness of the proposed strategy.

Funder

Fundamental Research Funds for the Central Universities

Publisher

Hindawi Limited

Subject

Multidisciplinary,General Computer Science

Cited by 2 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. A Proposed System for Multi-UAVs in Remote Sensing Operations;Sensors;2022-11-25

2. Fixed-time Event-triggered Formation Control for Multi-agent Systems with Integrator Dynamics;2022 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC);2022-11-19

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