The leader-following rendezvous with connectivity preservation via a self-tuning adaptive distributed observer
This paper studies the leader-following rendezvous with connectivity preservation problem for multiple double-integrator systems subject to external disturbances via a self-tuning adaptive distributed observer approach. This approach offers two advantages over the existing approach. First, it remove...
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| Published in | International journal of control Vol. 90; no. 7; pp. 1518 - 1527 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Abingdon
Taylor & Francis
03.07.2017
Taylor & Francis Ltd |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0020-7179 1366-5820 |
| DOI | 10.1080/00207179.2016.1210823 |
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| Abstract | This paper studies the leader-following rendezvous with connectivity preservation problem for multiple double-integrator systems subject to external disturbances via a self-tuning adaptive distributed observer approach. This approach offers two advantages over the existing approach. First, it removes the existing assumption that all the followers know the system matrix of the leader system. Second, the difficult task of calculating the observer gain is avoided by the employment of the dynamic observer gain. A rigorous analysis shows that our control law is capable of maintaining the connectivity of any initial connected communication network, and achieving the asymptotic tracking and disturbance rejection for a class of leader's signals and external disturbances, which can be the algebraic sum or multiplication of any polynomial functions with any unknown coefficients and sinusoidal functions with arbitrary unknown amplitudes, initial phases, and any frequencies. |
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| AbstractList | This paper studies the leader-following rendezvous with connectivity preservation problem for multiple double-integrator systems subject to external disturbances via a self-tuning adaptive distributed observer approach. This approach offers two advantages over the existing approach. First, it removes the existing assumption that all the followers know the system matrix of the leader system. Second, the difficult task of calculating the observer gain is avoided by the employment of the dynamic observer gain. A rigorous analysis shows that our control law is capable of maintaining the connectivity of any initial connected communication network, and achieving the asymptotic tracking and disturbance rejection for a class of leader's signals and external disturbances, which can be the algebraic sum or multiplication of any polynomial functions with any unknown coefficients and sinusoidal functions with arbitrary unknown amplitudes, initial phases, and any frequencies. |
| Author | Dong, Yi Huang, Jie |
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| Cites_doi | 10.1137/0315033 10.1109/TAC.2015.2504728 10.1016/j.automatica.2012.10.014 10.1109/TRO.2007.900638 10.1109/TAC.2010.2089652 10.1109/TAC.2011.2146830 10.1016/j.sysconle.2010.03.006 10.1109/TAC.2009.2033750 10.1109/TSMCB.2011.2179981 10.1016/j.automatica.2015.03.006 10.1080/00207170902912056 10.1109/TAC.2014.2310051 10.1080/00207170802549578 10.1109/9.376055 10.1016/j.automatica.2013.03.015 10.1049/iet-cta.2009.0229 10.1016/j.automatica.2013.02.024 |
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| Title | The leader-following rendezvous with connectivity preservation via a self-tuning adaptive distributed observer |
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