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

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 p...