{"title":"有一个非自主领导者的多机器人系统的实用稳健编队跟踪:基于游戏的方法","authors":"","doi":"10.1016/j.jfranklin.2024.107263","DOIUrl":null,"url":null,"abstract":"<div><p>In this paper, the practical formation tracking problems for second-order multi-agent systems (MASs) under the external disturbance and the unknown input are studied. First, a local performance index of the practical formation tracking is introduced for each agent. Second, a practical robust formation tracking protocol via a worst-case game strategy is proposed to achieve the practical formation tracking and counteract the external disturbance and the leader’s unknown input by treating them as two players in the Nash game. Third, a distributed terminal state observer is introduced to provide an analytical solution to the Nash game, ensuring the <span><math><mi>ϵ</mi></math></span>-Nash equilibrium. Finally, a multiple mobile robot experimental platform is constructed to demonstrate the theoretical results. The proposed practical robust formation tracking protocol via the distributed game strategy is verified to be effective in practice.</p></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7000,"publicationDate":"2024-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Practical robust formation tracking for multi-agent systems with a nonautonomous leader: A game-based approach\",\"authors\":\"\",\"doi\":\"10.1016/j.jfranklin.2024.107263\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>In this paper, the practical formation tracking problems for second-order multi-agent systems (MASs) under the external disturbance and the unknown input are studied. First, a local performance index of the practical formation tracking is introduced for each agent. Second, a practical robust formation tracking protocol via a worst-case game strategy is proposed to achieve the practical formation tracking and counteract the external disturbance and the leader’s unknown input by treating them as two players in the Nash game. Third, a distributed terminal state observer is introduced to provide an analytical solution to the Nash game, ensuring the <span><math><mi>ϵ</mi></math></span>-Nash equilibrium. Finally, a multiple mobile robot experimental platform is constructed to demonstrate the theoretical results. The proposed practical robust formation tracking protocol via the distributed game strategy is verified to be effective in practice.</p></div>\",\"PeriodicalId\":17283,\"journal\":{\"name\":\"Journal of The Franklin Institute-engineering and Applied Mathematics\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":3.7000,\"publicationDate\":\"2024-09-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of The Franklin Institute-engineering and Applied Mathematics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0016003224006847\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of The Franklin Institute-engineering and Applied Mathematics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0016003224006847","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Practical robust formation tracking for multi-agent systems with a nonautonomous leader: A game-based approach
In this paper, the practical formation tracking problems for second-order multi-agent systems (MASs) under the external disturbance and the unknown input are studied. First, a local performance index of the practical formation tracking is introduced for each agent. Second, a practical robust formation tracking protocol via a worst-case game strategy is proposed to achieve the practical formation tracking and counteract the external disturbance and the leader’s unknown input by treating them as two players in the Nash game. Third, a distributed terminal state observer is introduced to provide an analytical solution to the Nash game, ensuring the -Nash equilibrium. Finally, a multiple mobile robot experimental platform is constructed to demonstrate the theoretical results. The proposed practical robust formation tracking protocol via the distributed game strategy is verified to be effective in practice.
期刊介绍:
The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.