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https://hdl.handle.net/2440/134019
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Type: | Journal article |
Title: | Robust Formation Control for Multi-agent Systems Based on Adaptive Observers |
Author: | Yan, B. Shi, P. Lim, C.C. Wu, C. |
Citation: | IEEE Systems Journal, 2022; 16(2):3139-3150 |
Publisher: | Institute of Electrical and Electronics Engineers |
Issue Date: | 2022 |
ISSN: | 1932-8184 1937-9234 |
Statement of Responsibility: | Bing Yan, Peng Shi, Cheng-Chew Lim |
Abstract: | In this article, a distributed robust control strategy is proposed for heterogeneous multiagent systems subject to uncertainties and disturbances to achieve time-varying formations under static and switching topologies. Without prior knowledge of global information on communication graphs, a distributed observer is developed to estimate the state information of a reference system. Internal model-based robust formation controllers for homogeneous disturbances, with and without unknown heterogeneous disturbances, are designed using the Riccati equation approach. Finally, a case study of bushfire edge tracking and patrolling is presented, and the effectiveness and robustness of the formation control developed strategy are verified by simulations. |
Keywords: | Adaptive observers; heterogeneous multiagent systems; robust formation control; uncertainties and disturbances |
Description: | Published online 2 December 2021 |
Rights: | © 2021 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information. |
DOI: | 10.1109/JSYST.2021.3127579 |
Grant ID: | http://purl.org/au-research/grants/arc/DP170102644 |
Published version: | http://dx.doi.org/10.1109/jsyst.2021.3127579 |
Appears in Collections: | Electrical and Electronic Engineering publications |
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