A Novel Disturbance Observer for Multiagent Tracking Control with Matched and Unmatched Uncertainties

الملخص EN

In this paper, multiagent tracking control problem of second-order multiagent systems with unknown leader acceleration, input saturation, and matched and unmatched disturbances is investigated.

An auxiliary system is constructed to approximate system position states, and a novel sliding mode disturbance observer is designed to estimate matched and unmatched uncertainties.

A sliding mode disturbance observer-based control protocol is proposed by constructing a novel sliding mode manifold based on the sliding mode disturbance observer outputs.

In addition, the input saturation and the unknown leader acceleration become a part of lumped uncertainties by using mathematic transformation.

The lumped uncertainties estimated by the sliding mode disturbance observer are compensated by the sliding mode disturbance observer-based control protocol.

Stability of the second-order multiagent systems is guaranteed via Lyapunov method.

Finally, a simulation example is proposed to exhibit advantages and availability of the developed techniques.