RT - Journal Article
T1 - Robust time-varying formation tracking for linear multi agent system with external disturbances using linear matrix inequalities
JF - joc-isice
YR - 2021
JO - joc-isice
VO - 15
IS - 2
UR - http://joc.kntu.ac.ir/article-1-696-en.html
SP - 23
EP - 32
K1 - Multi agent system
K1 - time varying formation tracking
K1 - robust control
K1 - linear matrix inequalities
AB - 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.
LA eng
UL http://joc.kntu.ac.ir/article-1-696-en.html
M3 10.52547/joc.15.2.23
ER -