Second-order Robust Consensus for Nonlinear Multi-agent Systems with Extended State Observer

摘要：

　　This paper studies the distributed cooperative tracking problem for several typical second-order nonlinear uncertain multi-agent systems with bounded external and internal disturbances.In the first place,a distributed control algorithm is proposed for Von Der Pol oscillators which do not satisfy the Lipschitz condition by using extended state observer.In this case,the velocity measurements are not available for state feedback.Then the extended case when only absolute position and relative position measurements are available is studied,we develop the proposed algorithm by introducing distributed filter for each follower,and results shown that the state of follower converge to the time-varying leader.In addition,the consensus problem of a group of non-identical pendulums is studied and the distributed cooperative tracking can be achieved under the algorithm.

关键词： Multi-agent systems Cooperative tracking Nonlinear Non-Lipschitz

作者: WU Junxiong LI Donghai LAO Dazhong YANG Xiaoyan

作者单位: Department of Aerospace,Beijing Institute of Technology,Beijing 100081,China State Key Lab of Power Systems,Department of Thermal Engineering,Tsinghua University,Beijing100084,C

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 1419-1424

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）