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Formation Control for Nonlinear Multi-agent Systems with Linear Extended State Observer |
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| Authors: | Wen Qin Zhongxin Liu Zengqiang Chen |
| Affiliation: | 1. College of Computer and Control Engineering, Nankai University, Tianjin 300071, China;2. Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300071, China;3. College of Computer and Control Engineering, Nankai University, Tianjin 300071, China;4. Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300071, China;5. College of Science, Civil Aviation University of China, Tianjin 300300, China |
| Abstract: | This paper investigates the formation control problem for nonlinear multi-agent systems with a virtual leader. A distributed formation control strategy based on linear extended state observer (LESO) is proposed under the hypothesis that velocity of the agent's neighbors could not be measured. Some sufficient conditions are established to ensure that the nonlinear multi-agent systems form a predefined formation with switching topology when the nonlinear function is known. Moreover, the tracking errors are bounded with external disturbance. Lastly, a numerical example with different scenarios is presented to demonstrate the validity of the obtained results. |
| Keywords: | Multi-agent system linear extended state observer (LESO) nonlinear function formation control uncertainty virtual leader |
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