Flocking Motion of Second-Order Multi-agent Systems with Mismatched Disturbances
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.
KeywordsDistributed control Flocking motion Mismatched disturbances Disturbance observer Weak connectivity
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)
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