A Novel Disturbance Observer for Multiagent Tracking Control with Matched and Unmatched Uncertainties

Xin Zhao, Xi Ma and Xiao Ma

Mathematical Problems in Engineering, 2019, vol. 2019, 1-9

Abstract:

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.

Date: 2019
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:9765353

DOI: 10.1155/2019/9765353

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