An adaptive leader-following formation control strategy with connectivity maintenance is put forward in this paper for nonlinear strict-feedback multi-agent systems (MASs) subject to unknown external disturbance and unmodeled dynamics. It first introduces an extended state observer to approximate the lumped uncertainties of followers in each layer. Then, the practical adaptive leader-following formation control protocol is raised. Wherein, a prescribed performance envelope is constructed in design procedures via utilizing a designated-time convergent function to realize the finite-time stability for the formation tracking error and other auxiliary error surfaces, and further assure the information exchange connectivity at the initial time. The backstepping technique is introduced to provide intermediate virtual controller and practical input signals for each control loop to ensure the realization of the ideal formation pattern. Furthermore, the convergence of the whole closed-loop MASs is detailedly discussed via employing the Lyapunov stability criterion. Finally, illustrated simulations confirm the superiority of the developed protocol.
Adaptive Finite-Time Leader-Following Formation Control for Uncertain Nonlinear Strict-Feedback Systems with Connectivity Maintenance
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 26 ; 248-262
2022-03-18
15 pages
Article/Chapter (Book)
Electronic Resource
English
British Library Online Contents | 2014
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