TY - JOUR
T1 - Robust time-varying formation tracking for linear multi agent system with external disturbances using linear matrix inequalities
TT - ردیابی مقاوم آرایش متغیر با زمان برای سیستم چند عاملی خطی با در نظر گرفتن اغتشاش خارجی و رویکرد نامساوی ماتریسی خطی
JF - joc-isice
JO - joc-isice
VL - 15
IS - 2
UR - http://joc.kntu.ac.ir/article-1-696-en.html
Y1 - 2021
SP - 23
EP - 32
KW - Multi agent system
KW - time varying formation tracking
KW - robust control
KW - linear matrix inequalities
N2 - In this paper, the formation tracking of multi-agent systems is discussed. The model considered for each agent is linear with uncertain parameters. The effect of external disturbances is also considered in the model. To achieve predetermined time-varying formation, the required control input is presented. By applying this input, the closed-loop system will take the desired formation. Establishing the appropriate conditions for the realization of time-varying formation, and using the Lyapunov theory and the H_inf index to reduce the disturbance effect, results in some linear matrix inequalities. The designed parameter is then computed by solving those linear matrix inequalities. Finally, a simulation example is presented to illustrate the effectiveness of the designed strategy.
M3 10.52547/joc.15.2.23
ER -