Abstract
AbstractThis article addresses the problem of distributed average tracking for second‐order multi‐agent systems with disturbances. The unknown disturbances inject into the velocity dynamics, resulting in the degradation of system stability. An extended state observer is designed to estimate the velocities and disturbances. Then, an observer‐based average tracking protocol is proposed, which does not require velocity measurements, and the unknown disturbances are compensated by the estimations. The protocol is implemented in a distributed fashion, without requiring any global information, and is robust to initialization errors. Through Lyapunov analysis, it is verified that the second‐order multi‐agent system can achieve distributed average tracking under the proposed protocol. Finally, the effectiveness of the control method is demonstrated by simulations.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
More From: International Journal of Robust and Nonlinear Control
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.