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Fully Distributed Formation Tracking for High-order Nonlinear Multi-agent Systems with Heterogeneous Uncertainties

Weilai Jiang, Tingting Xi*, Wenqiang Zhang, and Yaonan Wang
International Journal of Control, Automation, and Systems, vol. 20, no. 12, pp.3859-3871, 2022

Abstract : This article investigates the fully distributed formation tracking issue for high-order nonlinear multiagent systems (MASs) with heterogeneous uncertainties and a directed interaction graph. In order to estimate the nonlinear dynamics for followers, external disturbances as well as the control input of leader, which are all not known, a distributed extended state observer (ESO) is constructed. Depending on ESOs’ estimations, a new fully distributed formation protocol is proposed to achieve the anti-disturbance formation tracking of an unknown input leader. A specified algorithm of the protocol is given and the feasibility condition for realizing the desired formation tracking is derived. It is theoretically demonstrated that the high-order uncertain nonlinear MASs can realize the formation tracking within the proposed protocol provided the feasibility condition is satisfied. The simulations are performed for proving the validity and improvements of theoretical analysis.

Keyword : Directed topology, extended state observer (ESO), formation tracking, fully distributed control, multiagent systems (MASs).

 
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