Active Disturbance Rejection Formation Control for Multiagent Systems With Input Constraints

IF 5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS IEEE Transactions on Control of Network Systems Pub Date : 2024-07-23 DOI:10.1109/TCNS.2024.3432823

Caoyuan Gu;Xiang Wu;Wen-An Zhang;Hongjie Ni;Steven X. Ding

引用次数: 0

Abstract

This article deals with the formation control of multiagent systems (MASs) subject to disturbances and input constraints, and an active disturbance rejection formation control (ADRFC) approach based on distributed observation is proposed. First, the states and disturbances of tracking error systems are estimated by a distributed intermediate estimator (DIE). Second, an improved distributed model-predictive control (IDMPC) is proposed to achieve the formation control of MASs under disturbances and input constraints. Then, the robust ADRFC method is designed by combining the DIE and IDMPC, and the stability of the whole system is analyzed. Finally, experiments are conducted on an MAS consisting of four mobile robots to illustrate the effectiveness and superiority of the proposed method.

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有输入约束的多代理系统的主动干扰抑制编队控制

研究了受干扰和输入约束的多智能体系统的群体控制问题，提出了一种基于分布式观测的自抗扰群体控制方法。首先，利用分布式中间估计器对跟踪误差系统的状态和干扰进行估计。其次，提出了一种改进的分布式模型预测控制（IDMPC），以实现扰动和输入约束下的质量编队控制。然后，结合DIE和IDMPC设计了鲁棒ADRFC方法，并分析了整个系统的稳定性。最后，在一个由四个移动机器人组成的MAS上进行了实验，验证了该方法的有效性和优越性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Control of Network Systems Mathematics-Control and Optimization

CiteScore

7.80

自引率

7.10%

发文量

169

期刊介绍： The IEEE Transactions on Control of Network Systems is committed to the timely publication of high-impact papers at the intersection of control systems and network science. In particular, the journal addresses research on the analysis, design and implementation of networked control systems, as well as control over networks. Relevant work includes the full spectrum from basic research on control systems to the design of engineering solutions for automatic control of, and over, networks. The topics covered by this journal include: Coordinated control and estimation over networks, Control and computation over sensor networks, Control under communication constraints, Control and performance analysis issues that arise in the dynamics of networks used in application areas such as communications, computers, transportation, manufacturing, Web ranking and aggregation, social networks, biology, power systems, economics, Synchronization of activities across a controlled network, Stability analysis of controlled networks, Analysis of networks as hybrid dynamical systems.

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