Abstract
This article investigates the consensus-based formation control problem with unknown disturbances in multi-agent systems. We design node-based adaptive controllers via extended state observers and node-based event-triggered schemes, which can eliminate the effect of disturbances and avoid continuous communications. With the proposed controllers, we obtain that the formation errors are asymptotic to zero when the derivatives of disturbances belong to (Formula presented.) space or are bounded by a small threshold when the derivatives of disturbances are bounded. Zeno behaviors and global information are also excluded. Numerical simulations validate the effectiveness of proposed approaches.
| Original language | English |
|---|---|
| Pages (from-to) | 736-752 |
| Number of pages | 17 |
| Journal | International Journal of Robust and Nonlinear Control |
| Volume | 33 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 25 Jan 2023 |
Keywords
- event-triggered schemes
- formation control
- fully distributed
- multi-agent systems
- unknown disturbance