Optimal Formation Control for Multi-Agents Systems with External Disturbances
The optimal formation control for multi-agents systems with external disturbances is considered. Based on the internal model principle, a disturbance compensator is designed to reject the influence of external disturbances. An augmented system is constructed with the system and the compensator. By introducing some concatenation vectors, the single augmented system is transformed into a global multi-agents system and the quadratic performance index and output error are also transformed into the relevant format. According to the maximum principle, the formation control problem is transformed into solve a two-point boundary value problem. The obtained formation control law consists of compensation term and output feedback terms which are constructed by the solution of a Riccati matrix equation and a Sylvester matrix equation. Several numerical simulations are given to illustrate the effectiveness and feasibility of the theoretical results.
Optimal formation control multi-agents systems internal model principle disturbance compensator
Xi-Xin YANG Gong-You TANG Yang LI Pei-Dong WANG
College of Information Science and Engineering, Ocean University of China, Qingdao, 266100
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
2291-2295
2012-07-01(万方平台首次上网日期,不代表论文的发表时间)