Distributed prescribed‐time leader‐following formation control for second‐order multi‐agent systems with mismatched disturbances

Author:

Li Bo1ORCID,Gong Wenquan1,Xiao Bing2,Yang Yongsheng1

Affiliation:

1. Institute of Logistics Science and Engineering Shanghai Maritime University Shanghai China

2. School of Automation Northwestern Polytechnical University Xi'an China

Abstract

AbstractThis article investigates the distributed prescribed‐time formation control problem for the second‐order multi‐agent systems (MASs) subject to matched and mismatched disturbances in time‐varying formation case. As a stepping stone, novel distributed estimators are first proposed to accurately estimate the position and velocity information of the leader within prescribed time. Subsequently, the nominal control protocol is presented for the MAS in the absence of the disturbances to deal with the time‐varying formation control problem, and the prescribed‐time stability of the system is guaranteed. For system subject to matched and mismatched disturbances, the observer‐based integral sliding mode formation control protocol is then presented such that the desired trajectories can be tracked and the desired patterns can be achieved within the prescribed settling time. By adopting the sinusoidal function to the control scheme, the singularity‐like problem is solved if there exist measurement errors in the agents. Finally, a numerical simulation example utilizing unmanned aerial vehicles modeled by Simscape and Solidworks is presented to show the efficiency of the proposed scheme.

Funder

National Natural Science Foundation of China

Natural Science Foundation of Shanghai Municipality

Publisher

Wiley

Subject

Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Mechanical Engineering,Aerospace Engineering,Biomedical Engineering,General Chemical Engineering,Control and Systems Engineering

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