文献类型：期刊文献

英文题名：Active Disturbance Rejection Formation Tracking Control for Uncertain Nonlinear Multi-Agent Systems With Switching Topology via Dynamic Event-Triggered Extended State Observer

作者：Li, Zhichen[1,2];Zhao, Yu[3];Yan, Huaicheng[1,4];Zhang, Hao[5];Zeng, Lu[6];Wang, Xiaolei[7]

机构：[1]East China Univ Sci & Technol, Key Lab Smart Mfg Energy Chem Proc, Minist Educ, Shanghai 200237, Peoples R China;[2]Minist Educ China, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China;[3]East China Univ Sci & Technol, Sch Informat Sci & Engn, Shanghai 200237, Peoples R China;[4]Chengdu Univ, Sch Informat Sci & Engn, Chengdu 610106, Peoples R China;[5]Tongji Univ, Dept Control Sci & Engn, Shanghai 200092, Peoples R China;[6]Fudan Univ, Acad Engn & Technol, Shanghai 200433, Peoples R China;[7]Natl Innovat Inst Def Technol, Beijing 100071, Peoples R China

年份：2023

卷号：70

期号：1

起止页码：518

外文期刊名：IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS

收录：;EI(收录号：20224613123294);WOS:【SCI-EXPANDED(收录号:WOS:000881950000001)】；

基金：This work was supported in part by the National Natural Science Foundation of China under Grant 62173146, Grant 62073143, and Grant 61922063; in part by the Foundation of Key Laboratory of System Control and Information Processing, Ministry of Education, China, under Grant Scip202208; in part by the Shanghai Natural Science Foundation under Grant 22ZR1416200; and in part by the Innovation Program of Shanghai Municipal Education Commission under Grant 2021-01-07-00-02-E00107.

语种：英文

外文关键词：Uncertainty; Topology; Observers; Vehicle dynamics; Switches; Multi-agent systems; Dynamic scheduling; Uncertain nonlinear multi-agent systems; dynamic event-triggered mechanism; fuzzy extended state observer; active disturbance rejection formation tracking control

摘要：In this paper, the time-varying formation tracking (TVFT) control problem is concerned for multi-agent systems (MASs). The primary objective is to achieve asymptotical convergence for formation tracking error subject to nonparametric and nonvanishing uncertainties. Firstly, in order to estimate lumped unmodeled dynamics and external disturbances, an event-triggered fuzzy extended state observer (FESO) inspired by our previous works is established for follower group, in which efficient nonlinear observation pattern and convenient linear numerical tractability are integrated. For rationally scheduling transmission, a dynamic event-triggered mechanism is applied to form adaptively regulating strategy. Secondly, a distributed TVFT control law is developed by utilizing neighborhood formation tracking errors. Different from conventional disturbance-tolerant methodologies, total disturbance compensation is introduced to attenuate uncertainty influence in real time. Consequently, active disturbance rejection formation tracking control architecture is systematically constructed for uncertain MASs. Moreover, considering switching topology, the controller design algorithm is presented by piecewise Lyapunov analysis. Finally, the effectiveness and advantages of the proposed event-triggered FESO-based active disturbance rejection control protocol is illustrated by an numerical example on unmanned aerial vehicle swarm system.