Formation Control for Multi-Agent System with Disturbances Compensation

Abstract

Thispaperconsiderstheformationcontrolofsingle-integratormodeledagentswith unknowndisturbances.Twocasesare investigated. Inthefirstcase, theconnectedagentsare assumedtobeable tomeasure relativedisplacementsbetweeneachother.The control law forthiscase isdesignedtoensureastable formationwithapredefinedrejectionperformance fordisturbances. Inthe secondcase, additionally, oneagent is assumedtobeable to sense its position in a global coordinate system. The control law for this case is designed to ensure the stabilityof agents’ positionswithrespect topredefineddesiredpositions.Also, a rejectionperformance fordisturbances isensured.Simulationresultsareprovidedtosupport thetheoreticalanalysisfortheproposedcontrolalgorithms

Tasks

Reproductions