Abstract
In this paper, the pinning control problem of nonlinear multi-robots system (MRS) is investigated. By introducing Linear-Extended-State-Observer (LESO) approach, a LESO based pinning control algorithm is proposed for the multi-robots system with non-identical unknown nonlinear dynamics. By pinning one robot with small coupling strength, a LESO based control algorithm has been developed to guarantee the nonlinear multi-robots system to reach synchronisation when the nonlinear function is given. Furthermore, the tracking errors of the following robots are bounded when the nonlinear function is unknown. Finally, numerical simulations with different scenarios are presented to illustrate the effectiveness of the theoretical results.
Highlights
Inspired by the group motion behavior in nature, the cooperative problem of multi-robots system (MRS) attracts more and more attentions of the scientists from different fields including physics, social sciences, computer science and control engineering [1]–[8]
Motivated by the aforementioned statements, this paper considers the linear extended state observer based pinning control of nonlinear multi-robots system
MAIN RESULTS When the nonlinear function f (x(t), t, w(t)) is known, we can construct the linear extended state observer with the control input variable ui(t) and the output variable yi(t), the LESO can be designed as follows z1i (t) = z2i (t) + li1(xi1(t) − z1i (t)) + ui(t), z2i (t) = h(z1i (t), t, wi(t)) + li2(xi1(t) − z1i (t)), (7)
Summary
Inspired by the group motion behavior in nature, the cooperative problem of multi-robots system (MRS) attracts more and more attentions of the scientists from different fields including physics, social sciences, computer science and control engineering [1]–[8]. A distributed control protocol based on observer has been proposed to achieve admissible leader-following consensus when the data of states maybe unavailable, and sufficient and necessary conditions of admissible consensus have been obtained in [17]. Ren et al [22] build reduced-order observer for each follower to estimate its unknown velocity, the distributed controllers are proposed to gurantee that the consensus error of the stochastic multi-agent systems can converge to a small region of the orignial under the backstepping control approach. Motivated by the aforementioned statements, this paper considers the linear extended state observer based pinning control of nonlinear multi-robots system.
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