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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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