Formation control of multiagent systems based on adaptive distributed filtering observer
In this paper,we consider the formation control problem for linear multiagent systems where the output information of the global command generator is subject to channel disturbance.First,the formation control problem is for-mulated under the cooperative output regulation control framework.Second,to deal with the disturbed output information of the global command generator,a novel output-based adaptive distributed filtering observer is proposed,featuring less information exchange over the communication network and complete rejection of the channel disturbance.Finally,certain-ty equivalence output feedback control law is synthesized to solve the formation control problem of the linear multiagent systems in a distributed way.Simulation results are given to validate the control performance.
linear multiagent systemsformation controlcooperative output regulationdistributed filtering observer
万方数据
维普
