Abstract
Based on the problem of flocking for second-order multi-agent systems with mismatched disturbances, a distributed control algorithm with individual local information is investigated. For each agent, a disturbance observer is designed. And then based on disturbance observer, a distributed control protocol with feed-forward compensation term is proposed. By using Lyapunov stability and input to state stability theory, it proves that the distributed control law enables to make all agents eventually converge to the leader’s velocity when at least one agent can receive the leader’s information. Finally, a numerical simulation example illustrates the effectiveness of the conclusion.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
C.W. Reynolds, Flocks, herds and schools: a distributed behavioral model. ACM SIGGRAPH Comput. Graph. 21(4), 25–34 (1987)
R. Olfati-Saber, R.M. Murray, Consensus problems in networks of agents with switching topology and time-delays. IEEE Trans. Autom. Control 49(9), 1520–1533 (2004)
R. Olfati-Saber, Flocking for multi-agent dynamic systems: algorithms and theory. IEEE Trans. Autom. Control 51(3), 401–420 (2006)
H. Su, X. Wang, Z. Lin, Flocking of multi-agents with a virtual leader. IEEE Trans. Autom. Control 54(2), 293–307 (2009)
H. Su, Flocking in multi-agent systems with multiple virtual leaders based only on position measurements. Commun. Theor. Phys. 57(5), 801–807 (2012)
Y. Hongyong, W. Fuyong, H. Fujun, Containment control of fractional order multi-agent systems with time delays. IEEE/CAA J. Autom. Sinica 5(3):727–732. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7783963 (2018)
H.Y. Yang, Y. Yize, H. Fujun, Z. Mei, G. Lei, Containment control of heterogeneous fractional-order multi-agent systems. J. Franklin Instit. (2017). https://doi.org/10.1016/j.jfranklin.2017.09.034
Y. Hongyong, H. Fujun, Z. Mei, Z. Shuning, Y. Jun, Distributed containment control of heterogeneous fractional-order multi-agent systems with communication delays. Open Phys. 15, 509–516 (2017)
Y. Hongyong, Z. Zhenxing, Z. Siying, Consensus of second-order multi-agent systems with exogenous disturbances. Int. J. Robust Nonlin. Control 21(9), 945–956 (2011)
S.H. Li, J. Yang, W.H. Chen et al. Disturbance Observer-Based Control: Methods and Applications. CRC Press, Inc. (2014)
L. Yuling, Y. Hongyong, L. Fan, Y. Yize, Finite-time containment control of second-order multi-agent systems with unmatched disturbances. Acta Autom. SINICA (2018). https://doi.org/10.16383/j.aas.2018.c170571
H.K. Khalil, Nonlinear Systems, 3rd edn. (Prentice Hall, New York, 2002)
Acknowledgements
This paper is supported by the National Natural Science Foundation of China (61673200, 61771231, 61471185), Natural Science Foundation of Shandong Province (ZR2018ZC0438, ZR2017MF010, ZR2017PF010) and the Key R&D Program of Yantai City (2016ZH061)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Liu, F., Yang, H., Yang, Y., Li, Y., Liu, Y. (2019). Flocking Motion of Second-Order Multi-agent Systems with Mismatched Disturbances. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2018 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 528. Springer, Singapore. https://doi.org/10.1007/978-981-13-2288-4_73
Download citation
DOI: https://doi.org/10.1007/978-981-13-2288-4_73
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-13-2287-7
Online ISBN: 978-981-13-2288-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)