Prescribed-time formation control of vehicles based on a disturbance observer
In order to solve the problem of poor convergence performance within the scope of asymptotic time convergence or finite-time convergence in vehicle formation control systems,this paper investigates the vehicle formation system under prescribed-time control.Considering the effects of model parameter uncertainty and external environment perturbation,a formation control algorithm based on a disturbance observer has been designed.Firstly,based on the kinematics and dynamics models of the vehicle,the model parameter uncertainty and external environment perturbation present in the system were treated as composite disturbances,and the accurate estimation of the perturbation in the prescribed-time was realized by the designed prescribed-time disturbance observer.Secondly,on the basis of the disturbance observer,the formation controller of vehicles based on prescribed-time was designed to ensure that it can converge within the prescribed-time to realize the control objective.Finally,the correctness and effectiveness of the proposed control strategy were verified by simulations.
disturbance observerprescribed-timeleader-followercooperative control
万方数据
维普
