Distributed Robust Adaptive Gradient Controller in Distance-Based Formation Control With Exogenous Disturbance

• 成果类型: Article
• 署名作者: Bae, Yoo-Bin; Lim, Young-Hun; Ahn, Hyo-Sung
• 署名单位: Gwangju Institute of Science & Technology (GIST); Gyeongnam National University of Science and Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3010244
• 发表日期: 2021
• 页码: 2868-2874
• 关键词: Distance-based formation control; exogenous disturbance; graph rigidity; multiagent systems

摘要

In this article, we present a distributed robust adaptive gradient controller for distance-based formation systems with exogenous disturbances. Based on the proposed controller, we consider two undirected formation topologies: Minimally infinitesimally rigid formation and nonminimally infinitesimally rigid formation. For both formation systems, we show that the distributed robust adaptive gradient controller guarantees a local stability of formation systems with exogenous disturbances. Furthermore, an upper-boundedness set of squared-distance error is obtained based on Lyapunov stability analysis for minimally infinitesimally rigid formation systems. We verify the validity of the theoretical results through numerical simulations.