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On-line Access: 2019-01-30

Received: 2018-09-12

Revision Accepted: 2018-12-25

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Frontiers of Information Technology & Electronic Engineering  2019 Vol.20 No.1 P.76-87

http://doi.org/10.1631/FITEE.1800557


Time-varying formation tracking for uncertain second-order nonlinear multi-agent systems


Author(s):  Mao-peng Ran, Li-hua Xie, Jun-cheng Li

Affiliation(s):  School of Electrical and Electronic Engineering, Nanyang Technological University,Singapore 639798, Singapore

Corresponding email(s):   mpran@ntu.edu.sg, ELHXIE@ntu.edu.sg, juncheng001@e.ntu.edu.sg

Key Words:  Multi-agent system, Time-varying formation, Formation tracking, Nonlinear dynamics, Extended state observer (ESO)


Mao-peng Ran, Li-hua Xie, Jun-cheng Li. Time-varying formation tracking for uncertain second-order nonlinear multi-agent systems[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(1): 76-87.

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journal="Frontiers of Information Technology & Electronic Engineering",
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%A Jun-cheng Li
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Abstract: 
Our study is concerned with the time-varying formation tracking problem for second-order multi-agent systems that are subject to unknown nonlinear dynamics and external disturbance, and the states of the followers form a predefined time-varying formation while tracking the state of the leader. The total uncertainty lumps the unknown nonlinear dynamics and the external disturbance, and is regarded as an extended state of the agent. To estimate the total uncertainty, we design an extended state observer (ESO). Then we propose a novel ESO based time-varying formation tracking protocol. It is proved that, under the proposed protocol, the ESO estimation error and the time-varying formation tracking error can be made arbitrarily small. An application to the target enclosing problem for multiple unmanned aerial vehicles (UAVs) verifies the effectiveness and superiority of the proposed approach.

不确定二阶非线性多智能体系统时变编队跟踪控制

摘要:研究了含未知非线性动态和外界干扰的二阶多智能体系统时变编队跟踪控制问题。在所考虑的时变编队跟踪控制中,每个跟踪者在完成预设编队的同时,需要跟踪领导者轨迹。将未知非线性动态和外界干扰视为每个多智能体的扩张状态,并设计扩张状态观测器对扩张状态进行在线观测。在此基础上,提出基于扩张状态观测器的时变编队跟踪控制协议。理论分析表明,所设计的时变编队跟踪控制协议能够保证观测器观测误差和多智能体系统时变编队跟踪误差收敛至任意小。最后,将所设计的时变编队跟踪协议应用于无人机目标合围问题,验证了该方法的有效性。

关键词:多智能体系统;时变编队;编队跟踪;非线性动态;扩张状态观测器

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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