A disturbance observer based practical coordinated tracking controller for uncertain heterogeneous multi‐agent systems. (2nd June 2014)

• Record Type: Journal Article
• Authors: Back, Juhoon; Kim, Jung‐Su
• Is Part Of: International journal of robust and nonlinear control. Volume 25:Number 14(2015)
• Page Start: 2254
• Page End: 2278
• Publication Date: 2014-06-02
• Subjects: Automatic control -- Periodicals; Control theory -- Periodicals; Nonlinear systems -- Periodicals; 629.836
• DOI: 10.1002/rnc.3197
• Languages: English
• ISSNs: 1049-8923

Abstract

<abstract abstract-type="main" id="rnc3197-abs-0001"> <title>Summary</title> <p id="rnc3197-para-0001">This paper presents a coordinated tracking controller for multi‐agent systems. We assume that agents are uncertain, nonidentical, and affected by external disturbances. The information available to the tracking controller is a weighted sum of relative measurements. A coordinated tracking controller based on the disturbance observer, which is known as a robust output feedback controller, is designed so that the disturbances acting on agents are attenuated and at the same time the weighted sum of relative measurements approximately satisfies a differential equation defined by the leader's dynamics, which results in practical coordinated tracking. Systematic design procedures of the controller as well as numerical simulations are provided. Copyright © 2014 John Wiley &amp; Sons, Ltd.</p> </abstract>