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On-line Access: 2019-01-30

Received: 2018-09-12

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


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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%T Time-varying formation tracking for uncertain second-order nonlinear multi-agent systems
%A Mao-peng Ran
%A Li-hua Xie
%A Jun-cheng Li
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T1 - Time-varying formation tracking for uncertain second-order nonlinear multi-agent systems
A1 - Mao-peng Ran
A1 - Li-hua Xie
A1 - Jun-cheng Li
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 20
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SP - 76
EP - 87
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/FITEE.1800557

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.




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


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