文献类型：期刊文献

英文题名：Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode

作者：Qian, D. W.[1];Tong, S. W.[2];Li, C. D.[3]

第一作者：Qian, D. W.

通讯作者：Qian, DW[1]

机构：[1]North China Elect Power Univ, Sch Control & Comp Engn, Beijing 102206, Peoples R China;[2]Beijing Union Univ, Coll Automat, Beijing 100101, Peoples R China;[3]Shandong Jianzhu Univ, Sch Informat & Elect Engn, Jinan 250101, Peoples R China

第一机构：North China Elect Power Univ, Sch Control & Comp Engn, Beijing 102206, Peoples R China

通讯机构：[1]corresponding author), North China Elect Power Univ, Sch Control & Comp Engn, Beijing 102206, Peoples R China.

年份：2017

卷号：65

期号：1

起止页码：35-44

外文期刊名：BULLETIN OF THE POLISH ACADEMY OF SCIENCES-TECHNICAL SCIENCES

收录：;EI(收录号：20170903392751);Scopus(收录号：2-s2.0-85013783542);WOS:【SCI-EXPANDED(收录号:WOS:000394522400005)】；

基金：This work was partially supported by the National Natural Science Foundation of China Project under grants 60904008 and 61473176, the Natural Science Foundation of Shandong Province for Outstanding Young Talents in Provincial Universities (ZR2015JL021) and the International Science and Technology Cooperation Project between China and Denmark under grant No. 2014DFG62530.

语种：英文

外文关键词：multi-agent system; formation control; integral sliding mode control; uncertainty; nonlinear disturbance observer; stability

摘要：This paper investigates the formation control problem of multiple agents. The formation control is founded on leader-following approaches. The method of integral sliding mode control is adopted to achieve formation maneuvers of the agents based on the concept of graph theory. Since the agents are subject to uncertainties, the uncertainties also challenge the formation-control design. Under a mild assumption that the uncertainties have an unknown bound, the technique of nonlinear disturbance observer is utilized to tackle the issue. According to a given communication topology, formation stability conditions are investigated by the observer-based integral sliding mode formation control. From the perspective of Lyapunov, not only is the formation stability guaranteed, but the desired formation of the agents is also realized. Finally, some simulation results are presented to show the feasibility and validity of the proposed control scheme through a multi-agent platform.