Formation control with disturbance rejection for a class of Lipschitz nonlinear systems

• Published in: Science China. Information sciences Vol. 60; no. 7; pp. 25 - 35
• Main Authors: Wang, Chunyan, Zuo, Zongyu, Gong, Qinghai, Ding, Zhengtao
• Format: Journal Article
• Language: English
• Published: Beijing Science China Press 01.07.2017; Springer Nature B.V
• Subjects: Closed loops; Computer Science; Design; Disturbance observers; Information Systems and Communication Service; Lipschitz; Lyapunov方法; Multiagent systems; Nonlinear systems; Nonlinearity; Research Paper; Time domain analysis; Tracking errors; 一致最终有界; 多智能体系统; 扰动抑制; 扰动观测器; 编队控制; 非线性系统; Lipschitz nonlinearity; multi-agent systems; disturbance rejection; formation control
• ISSN: 1674-733X; 1869-1919
• DOI: 10.1007/s11432-016-9125-2

In this paper, we consider the leader-follower formation control problem for general multi-agent systems with Lipschitz nonlinearity and unknown disturbances. To deal with the disturbances, a disturbance observer-based control strategy is developed for each follower. Then, a time-varying formation protocol is proposed based on the relative state of the neighbouring agents and sufficient conditions for global stability of the formation control are identified using Lyapunov method in the time domain. The proposed strategy and analysis guarantee that all signals in the closed-loop dynamics are uniformly ultimately bounded and the formation tracking errors converge to an arbitrarily small residual set. Finally, the validity of the proposed controller is demonstrated through a numerical example.