Details

Title

Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode

Journal title

Bulletin of the Polish Academy of Sciences: Technical Sciences

Yearbook

2017

Numer

No 1

Publication authors

Keywords

General Engineering ; Computer Networks and Communications ; Atomic and Molecular Physics, and Optics ; Artificial Intelligence ; Information Systems

Divisions of PAS

Nauki Techniczne

Abstract

<jats:title>Abstract</jats:title><jats:p>This paper investigates the formation control problem of multiple agents. The formation control is founded on leader-following approaches. The method of integral sliding mode control is adopted to achieve formation maneuvers of the agents based on the concept of graph theory. Since the agents are subject to uncertainties, the uncertainties also challenge the formation-control design. Under a mild assumption that the uncertainties have an unknown bound, the technique of nonlinear disturbance observer is utilized to tackle the issue. According to a given communication topology, formation stability conditions are investigated by the observer-based integral sliding mode formation control. From the perspective of Lyapunov, not only is the formation stability guaranteed, but the desired formation of the agents is also realized. Finally, some simulation results are presented to show the feasibility and validity of the proposed control scheme through a multi-agent platform.</jats:p>

Publisher

Polish Academy of Sciences

Date

2017

Identifier

ISSN 0239-7528, eISSN 2300-1917

DOI

10.1515/bpasts-2017-0005

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