A novel disturbance observer for multiagent tracking control with matched and unmatched uncertainties (Q2299032): Difference between revisions
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Latest revision as of 21:03, 4 August 2024
scientific article
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English | A novel disturbance observer for multiagent tracking control with matched and unmatched uncertainties |
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A novel disturbance observer for multiagent tracking control with matched and unmatched uncertainties (English)
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20 February 2020
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Summary: In this paper, multiagent tracking control problem of second-order multiagent systems with unknown leader acceleration, input saturation, and matched and unmatched disturbances is investigated. An auxiliary system is constructed to approximate system position states, and a novel sliding mode disturbance observer is designed to estimate matched and unmatched uncertainties. A sliding mode disturbance observer-based control protocol is proposed by constructing a novel sliding mode manifold based on the sliding mode disturbance observer outputs. In addition, the input saturation and the unknown leader acceleration become a part of lumped uncertainties by using mathematic transformation. The lumped uncertainties estimated by the sliding mode disturbance observer are compensated by the sliding mode disturbance observer-based control protocol. Stability of the second-order multiagent systems is guaranteed via Lyapunov method. Finally, a simulation example is proposed to exhibit advantages and availability of the developed techniques.
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