Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties
Time-varying output formation control problems for high-order time-invariant swarm systems are studied with nonlinear uncertainties and directed network topology in this paper. A robust controller which consists of a nominal controller and a robust compensator is applied to achieve formation control...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/2069170 |
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| _version_ | 1832553727874039808 |
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| author | Xiaofeng Chai Qing Wang Yao Yu Changyin Sun |
| author_facet | Xiaofeng Chai Qing Wang Yao Yu Changyin Sun |
| author_sort | Xiaofeng Chai |
| collection | DOAJ |
| description | Time-varying output formation control problems for high-order time-invariant swarm systems are studied with nonlinear uncertainties and directed network topology in this paper. A robust controller which consists of a nominal controller and a robust compensator is applied to achieve formation control. The nominal controller based on the output feedback is designed to achieve desired time-varying formation properties for the nominal system. And the robust compensator based on the robust signal compensator technology is constructed to restrain nonlinear uncertainties. The time-varying formation problem is transformed into the stability problem. And the formation errors can be arbitrarily small with expected convergence rate. Numerical examples are provided to illustrate the effectiveness of the proposed strategy. |
| format | Article |
| id | doaj-art-1242503e7de247b2a371f099cc2fcb8b |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-1242503e7de247b2a371f099cc2fcb8b2025-02-03T05:53:21ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/20691702069170Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear UncertaintiesXiaofeng Chai0Qing Wang1Yao Yu2Changyin Sun3School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaSchool of Automation, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaSchool of Automation, Southeast University, Nanjing 210096, ChinaTime-varying output formation control problems for high-order time-invariant swarm systems are studied with nonlinear uncertainties and directed network topology in this paper. A robust controller which consists of a nominal controller and a robust compensator is applied to achieve formation control. The nominal controller based on the output feedback is designed to achieve desired time-varying formation properties for the nominal system. And the robust compensator based on the robust signal compensator technology is constructed to restrain nonlinear uncertainties. The time-varying formation problem is transformed into the stability problem. And the formation errors can be arbitrarily small with expected convergence rate. Numerical examples are provided to illustrate the effectiveness of the proposed strategy.http://dx.doi.org/10.1155/2020/2069170 |
| spellingShingle | Xiaofeng Chai Qing Wang Yao Yu Changyin Sun Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties Complexity |
| title | Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties |
| title_full | Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties |
| title_fullStr | Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties |
| title_full_unstemmed | Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties |
| title_short | Robust Time-Varying Output Formation Control for Swarm Systems with Nonlinear Uncertainties |
| title_sort | robust time varying output formation control for swarm systems with nonlinear uncertainties |
| url | http://dx.doi.org/10.1155/2020/2069170 |
| work_keys_str_mv | AT xiaofengchai robusttimevaryingoutputformationcontrolforswarmsystemswithnonlinearuncertainties AT qingwang robusttimevaryingoutputformationcontrolforswarmsystemswithnonlinearuncertainties AT yaoyu robusttimevaryingoutputformationcontrolforswarmsystemswithnonlinearuncertainties AT changyinsun robusttimevaryingoutputformationcontrolforswarmsystemswithnonlinearuncertainties |