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