Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties
Joint Authors
Yu, Yao
Chai, Xiaofeng
Wang, Qing
Sun, Changyin
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-04-10
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
Time-varying output formation control problems for high-order time-invariant swarm systems are studied with nonlinear uncertainties and directed network topology in this paper.
A robust controller which consists of a nominal controller and a robust compensator is applied to achieve formation control.
The nominal controller based on the output feedback is designed to achieve desired time-varying formation properties for the nominal system.
And the robust compensator based on the robust signal compensator technology is constructed to restrain nonlinear uncertainties.
The time-varying formation problem is transformed into the stability problem.
And the formation errors can be arbitrarily small with expected convergence rate.
Numerical examples are provided to illustrate the effectiveness of the proposed strategy.
American Psychological Association (APA)
Chai, Xiaofeng& Wang, Qing& Yu, Yao& Sun, Changyin. 2020. Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties. Complexity،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1139997
Modern Language Association (MLA)
Chai, Xiaofeng…[et al.]. Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties. Complexity No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1139997
American Medical Association (AMA)
Chai, Xiaofeng& Wang, Qing& Yu, Yao& Sun, Changyin. Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties. Complexity. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1139997
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1139997