Distributed Formation Control for Multiagent Systems in the Presence of External Disturbances

Abstract

This paper analyzes the distributed formation control algorithms that rely on local measurements for second-order multiagent systems under the leader-follower control structure. Here, the reference states are only available to the leader agents, the follower agents have access to the information from the leaders to achieve the control objective, and the target formation is defined by their relative positions. The formation control problem with constant and time-varying reference states is studied, and two classes of practical control system problems in the presence external disturbances are also considered. In the former case, a non-saturated Proportional-integral (PI) controller is proposed to attenuate the constant disturbances, namely, the static errors are eliminated. In the latter case, a saturated distributed control algorithm is first proposed to address the formation control of multiagent systems, which, in many practical applications, is subject to bounded control inputs. To eliminate the effect of chattering caused by external bounded time-varying disturbances, the distributed formation control algorithm is then proposed. The analysis for the proposed control algorithms according to Lyapunov stability theory is provided. A sufficient collisionfree condition is also presented. Finally, to demonstrate the effectiveness of the obtained theoretical results, the numerical simulation results of several illustrative examples are presented.

Towards Grid of Microgrids: Seamless Transition between Grid-Connected and Islanded Modes of Operation

“…The distributed control schemes have been developed to harness the advantages of decentralized and centralized control schemes [13], [37], [44], [46], [47]. These schemes require only local peer-to-peer connections realized using sparse distributed communication links as evident in the network topology given by Fig.…”

“…Various distributed control schemes for MG control have been proposed in literature [13], [37], [47]. In addition to the reduced communication dependency and improved resiliency, decentralized control schemes also possess advanced features such as ability to eliminate the static errors that arise in multi-agent systems as analyzed in [47]. Hou et al in [13] proposed a distributed hierarchical control scheme that can provide seamless transition feature in ac MGs.…”

A sectorial fuzzy consensus algorithm for the formation flight of multiple quadrotor unmanned aerial vehicles

“…14 presented the consensus tracking of the leader-follower MASs via second-order Super Twisting sliding mode control and only the simulation results were presented in order to demonstrate the effectiveness of the algorithm. Yang and Fan 15 presented the distributed formation control for second-order MASs under the leader-follower control structure. The formation control problem with constant and time-varying reference states is proposed in the presence external disturbances.…”