Please use this identifier to cite or link to this item: https://hdl.handle.net/2440/134022
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Type: Journal article
Title: Robust Formation Control for Nonlinear Heterogeneous Multi-agent Systems based on Adaptive Event-triggered Strategy
Author: Yan, B.
Shi, P.
Lim, C.C.
Citation: IEEE Transactions on Automation Science and Engineering, 2022; 19(4):2788-2800
Publisher: Institute of Electrical and Electronics Engineers
Issue Date: 2022
ISSN: 1042-296X
1558-3783
Statement of
Responsibility: 
Bing Yan, Peng Shi, Cheng-Chew Lim
Abstract: In this article, a distributed adaptive event-triggered formation control strategy is proposed for unified nonlinear heterogeneous multiagent systems under uncertainties and disturbances to achieve time-varying formations. To reduce the frequency of data transmission, a distributed dual adaptive observer with an event-triggered strategy is developed to estimate the states of a reference exosystem. Without incurring prior global information about a communication graph, a novel robust formation controller, with dynamic distributed compensators for uncertainties and disturbances, is designed based on an observer result and a nonlinear internal control principle. Finally, both simulation and experiment are conducted for tracking and patrolling formation to verify the effectiveness of the proposed formation control strategy and its robustness.
Keywords: Adaptive observer; event-triggered strategy; heterogeneous nonlinear multiagent systems (MASs); robust formation control.
Description: Date of Publication: 23 August 2021; date of current version 13 October 2022.
Rights: © 2021 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information.
DOI: 10.1109/TASE.2021.3103877
Grant ID: http://purl.org/au-research/grants/arc/DP170102644
Published version: http://dx.doi.org/10.1109/tase.2021.3103877
Appears in Collections:Electrical and Electronic Engineering publications

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