Abstract
The tracking control of multiagent dynamical systems with exogenous disturbances is studied. A path following algorithm with a time-varying reference state is proposed, and the path tracking of multiagent systems with exogenous disturbance is analyzed. Under the influence of the disturbances, a disturbance observer is developed to estimate the exogenous disturbances. Asymptotical consensus of the multiagent systems with time-varying reference state and exogenous disturbances under the disturbance observers-based control (DOBC) can be achieved for fixed and switching topologies. Finally, by applying an example of multiagent systems with switching topologies and exogenous disturbances, the consensus tracking of multiagent systems with time-varying reference state is reached under the DOBC with the designed parameters.
Highlights
The distributed cooperation problems of multiagent systems have attracted many researchers from a broad range of disciplines including physics, biology, computer science, and control engineering
We investigate the path tracking of multiagent systems with time-varying reference state and exogenous disturbances
The estimation obtained by observer (16) is shown in Figure 4, where the dot line is the estimation of the exogenous disturbance
Summary
The distributed cooperation problems of multiagent systems have attracted many researchers from a broad range of disciplines including physics, biology, computer science, and control engineering. This is partly because of extensive application in many areas such as collaborative control of mobile robots, unmanned air vehicles (UAVs), autonomous underwater vehicles (AUVs), and automated highway systems [1,2,3,4,5,6,7,8,9,10]. Ren proposed consensus tracking algorithms under a directed information topology and with a time-varying consensus reference state [25]. We investigate the path tracking of multiagent systems with time-varying reference state and exogenous disturbances. Mathematical Problems in Engineering as virtual leader, all agents eventually move ahead at a desired tracking under a disturbance observer-based control (DOBC).
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