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.
关键词
多智能体系统/编队控制/协作式输出调节/分布式滤波观测器
Key words
linear multiagent systems/formation control/cooperative output regulation/distributed filtering observer
维普
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