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A Novel Disturbance Observer for Multiagent Tracking Control with Matched and Unmatched Uncertainties
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-04-30
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract 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.
American Psychological Association (APA)
Zhao, Xin& Ma, Xi& Ma, Xiao. 2019. A Novel Disturbance Observer for Multiagent Tracking Control with Matched and Unmatched Uncertainties. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-9.
https://search.emarefa.net/detail/BIM-1200837
Modern Language Association (MLA)
Zhao, Xin…[et al.]. A Novel Disturbance Observer for Multiagent Tracking Control with Matched and Unmatched Uncertainties. Mathematical Problems in Engineering No. 2019 (2019), pp.1-9.
https://search.emarefa.net/detail/BIM-1200837
American Medical Association (AMA)
Zhao, Xin& Ma, Xi& Ma, Xiao. A Novel Disturbance Observer for Multiagent Tracking Control with Matched and Unmatched Uncertainties. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-9.
https://search.emarefa.net/detail/BIM-1200837
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1200837