Distance-Based Formation Tracking of Single- and Double-Integrator Agents

Vu, H. X.; Trinh, Minh Hoang; Tran, Quoc Van; Ahn, Hyo‐Sung

doi:10.1109/tac.2023.3299817

IEEE Trans. Automat. Contr.

2024

DOI: 10.1109/tac.2023.3299817

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Distance-Based Formation Tracking of Single- and Double-Integrator Agents

H. X. Vu

Minh Hoang Trinh

Quoc Van Tran

et al.

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2024

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Cited by 2 publications

References 42 publications

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Disturbance observer‐based matrix‐weighted consensus

Trinh,

Tran,

Sun

et al. 2024

Intl J Robust & Nonlinear

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In this paper, we proposed several disturbance observer‐based matrix‐weighted consensus algorithms. A new disturbance observer is firstly designed for linear systems with unknown matched or mismatched disturbances representable as the multiplication of a known time‐varying matrix with a unknown constant vector. Under some assumptions on the boundedness and persistent excitation of the regression matrix, the disturbances can be estimated at an exponential rate. Then, a suitable compensation input is provided to compensate the unknown disturbances. Second, disturbance‐observer based consensus algorithms are proposed for matrix‐weighted networks of single‐ and double‐integrators with matched or mismatched disturbances. We show that both matched and mismatched disturbances can be estimated and actively compensated, and the consensus system uniformly globally asymptotically converges to a fixed point in the kernel of the matrix‐weighted Laplacian. Depending on the network connectivity, the system can asymptotically achieve a consensus or a cluster configuration. The disturbance‐observer based consensus design is further extended for a network of higher‐order integrators subjected to disturbances. Finally, simulation results are provided to support the mathematical analysis.

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Disturbance observer‐based matrix‐weighted consensus

Trinh,

Tran,

Sun

et al. 2024

Intl J Robust & Nonlinear

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Bearing-Based Leader-Follower Formation Tracking Control Using Elevation Angle

Cheah,

Deghat

2024

IEEE Access

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Distance-Based Formation Tracking of Single- and Double-Integrator Agents

Cited by 2 publications

References 42 publications

Disturbance observer‐based matrix‐weighted consensus

Disturbance observer‐based matrix‐weighted consensus

Bearing-Based Leader-Follower Formation Tracking Control Using Elevation Angle

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