Adaptive internal model based formation control of a class of multi-agent systems

Gül, Esma; Gazi, Veysel

doi:10.1109/acc.2010.5530889

Adaptive internal model based formation control of a class of multi-agent systems

Atıf İçin Kopyala

Gül E., Gazi V.

Proceedings of the 2010 American Control Conference, ACC 2010, ss.4800-4805, 2010 (SCI-Expanded)

Yayın Türü: Makale / Özet
Basım Tarihi: 2010
Doi Numarası: 10.1109/acc.2010.5530889
Dergi Adı: Proceedings of the 2010 American Control Conference, ACC 2010
Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED)
Sayfa Sayıları: ss.4800-4805
Yıldız Teknik Üniversitesi Adresli: Evet

Özet

In this article we consider the problem of moving in a predefined formation along a reference trajectory in the presence of disturbances in a class of multi-agent systems. The reference trajectory is generated by a neutrally stable exosystem with unknown parameters. The problem is formulated as nonlinear servomechanism problem and an adaptive internal model based controller is used to solve this problem. The performance of the system is verified with simple numerical simulations. © 2010 AACC.