首页|Fully distributed dynamic event-triggered formation-containment tracking for multiagent systems with multiple types of disturbances

Fully distributed dynamic event-triggered formation-containment tracking for multiagent systems with multiple types of disturbances

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This paper is dedicated to addressing the time-varying output formation-containment tracking(TVOFCT)problem for heterogeneous linear multiagent systems(MASs)with multiple types of disturbances under directed communication topology.The agents are divided into tracking leaders,formation leaders,and followers.In the output space,the formation leaders are required to form an expected geometric formation while tracking the tracking leader,and the followers are required to enter the convex hull spanned by formation leaders.First,a disturbance observer is designed to observe the disturbance with deterministic dynamics.Then,by combining adaptive technology with event-triggered technology,an independent fully distributed dynamic event-triggered(FDDET)compensator is designed to estimate the state of the tracking leader.The main advantages of this compensator lie in the following three aspects:(1)the adaptive weight does not increase unboundedly;(2)the interval time between events is expanded;(3)the design does not rely on any global information.Similar to the design of this compensator,an independent FDDET convex hull observer is further designed to observe the convex hull spanned by formation leaders.Subsequently,based on the designed disturbance observer,compensator,and convex hull observer,the adaptive disturbance rejection control input which can make the MASs achieve TVOFCT is formulated.Finally,a numerical simulation is provided to clearly verify the validity of the theoretical results.

formation-containment trackingdisturbance rejectionmultiagent systemsfully distributed controldynamic event-triggered control

Weihua LI、Huaguang ZHANG、Juan ZHANG、Rui WANG

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College of Information Science and Engineering,Northeastern University,Shenyang 110819,China

State Key Laboratory of Synthetical Automation for Process Industries,Northeastern University,Shenyang 110819,China

National Key Research and Development Program of ChinaNational Natural Science Foundation of ChinaLiaoning Revitalization Talents ProgramNature Science Foundation of Liaoning Province of China

2018YFA070220061627809XLYC18010052022JH25/10100008

2024

中国科学:信息科学(英文版)
中国科学院

中国科学:信息科学(英文版)

CSTPCDEI
影响因子:0.715
ISSN:1674-733X
年,卷(期):2024.67(1)
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