Robust integral of sign of error‐based distributed flocking control of double‐integrator multi‐agent systems with a varying virtual leader

This article investigates the flocking control problem of double‐integrator multi‐agent systems with a virtual leader subject to unknown external disturbances. A robust integral of sign of error (RISE) based control method is leveraged to design a distributed flocking controller with advantages of z...

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Vydané v:International journal of robust and nonlinear control Ročník 32; číslo 1; s. 286 - 303
Hlavní autori: Wang, Ximing, Sun, Jinsheng, Wu, Zixing, Li, Zhitao
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Bognor Regis Wiley Subscription Services, Inc 10.01.2022
Predmet:
Algorithms
Collision avoidance
Control methods
Control systems design
Controllers
distributed algorithms/control
flocking control
networked control systems
networks of autonomous agents
Potential fields
Robustness (mathematics)
Topology
ISSN:1049-8923, 1099-1239
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Popis
Shrnutí:This article investigates the flocking control problem of double‐integrator multi‐agent systems with a virtual leader subject to unknown external disturbances. A robust integral of sign of error (RISE) based control method is leveraged to design a distributed flocking controller with advantages of zero initial input value and continuous control input. By means of a new second‐order differential virtual potential field function, and the navigational feedback from a virtual leader, the proposed flocking controller assures agents of velocity consensus with the virtual leader and a quasi α‐lattice formation within a circular neighborhood centered on the virtual leader. Moreover, this algorithm guarantees collision avoidance and connectivity preservation of a proximity‐induced communication topology. Numerical simulations of the algorithm are provided to illustrate the effectiveness of the proposed flocking algorithm.
Bibliografia:Abbreviations
RISE, robust integral of sign of error; SMC, sliding mode control; STC, super‐twisting control; VPF, virtual potential field.
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ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.5823