TY - GEN
T1 - Robust guaranteed cost time-varying formation tracking control for high-order multi-agent systems with external disturbances
AU - Yu, Jianglong
AU - Dong, Xiwang
AU - Li, Qingdong
AU - Shao, Changxing
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8
Y1 - 2018/8
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/85082466187
U2 - 10.1109/GNCC42960.2018.9018901
DO - 10.1109/GNCC42960.2018.9018901
M3 - 会议稿件
AN - SCOPUS:85082466187
T3 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
BT - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
Y2 - 10 August 2018 through 12 August 2018
ER -