Distributed consensus tracking control based on state and disturbance observations for mixed-order multi-agent mechanical systems |
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| Institution: | 1. College of Automation and College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, P.R.China;2. Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot), Nanjing 210023, P.R.China;1. MOE-LCSM, CHP-LCOCS, School of Mathematical Sciences and Statistics, Hunan Normal Univerity, Changsha, 410081, China;2. The Key Laboratory of Control and Optimization of Complex Systems, College of Hunan Province, Hunan Normal University, Changsha 410081, China;1. School of Physics and Electronic Information, Anhui Normal University, Wuhu 241000, China;2. Anhui Provincial Engineering Laboratory on Information Fusion and Control of Intelligent Robot, Wuhu 241000, China;3. School of Mathematical Sciences, Liaocheng University, Liaocheng 252059, China;4. Faculty of Automation, Huaiyin Institute of Technology, Huaian 223001, China;5. School of Engineering, Huzhou University, Huzhou 313000, China |
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| Abstract: | In this paper, we study the cooperative consensus control problem of mixed-order (also called hybrid-order) multi-agent mechanical systems (MMSs) under the condition of unmeasurable state, unknown disturbance and constrained control input. Here, the controlled mixed-order MMSs are consisted of the mechanical agents having heterogeneous nonlinear dynamics and even non-identical orders, which means that the agents can be of different types and their states to be synchronized can be not exactly the same. In order to achieve the ultimate synchronization of all mixed-order followers, we present a novel distributed adaptive tracking control protocol based on the state and disturbance observations. Wherein, a distributed state observer is used to estimate the followers’ and their neighbors’ unmeasurable states. And, a novel estimated-state-based disturbance observer (DOB) is proposed to reduce the effect of unknown lumped disturbance for the mixed-order MMSs. The proposed control protocol and observers are fully distributed and can be calculated for each follower locally. Lyapunov theory is used for proving the stability of the proposed control algorithm and the convergence of the cooperative tracking errors. A practical cooperative longitudinal landing control example of unmanned aerial vehicles (UAVs) is given to illustrate the effectiveness of the presented control protocol. |
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