Affine Formation Maneuver Control of Multiagent Systems With Disturbances Based on RISE Controller

IF 4 3区计算机科学 Q1 COMPUTER SCIENCE, INFORMATION SYSTEMS

IEEE Systems Journal Pub Date : 2025-01-29 DOI:10.1109/JSYST.2025.3529502

Liwen Weng;Zhitao Li;Lixin Gao

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引用次数: 0

Abstract

In the affine formation maneuver control for multiagent systems with a leader-follower structure, external disturbances easily cause deformation of the formation shape, thereby affecting a series of cascading reactions. Hence, robustness against disturbances in affine formation control has been a subject remaining to be determined. To address this problem, a continuous robust controller is introduced in this study, leveraging the robust integral of the sign of the error (RISE) approach, aiming to suppress external disturbances while ensuring efficient convergence speed of the system under various collective formation maneuvers determined by the leader. The controller is designed to handle two types of disturbance models: one involving general disturbances and the other considering time-delay disturbances. It consists of formation tracking terms based on stress matrices and graph theory, as well as disturbance suppression terms utilizing RISE. Sufficient conditions for the stability of affine formations under both types of disturbances are derived. By designing a Lyapunov function that integrates a class-P function, the exponential stability of the closed-loop system is rigorously demonstrated. Finally, simulation results are provided to verify the performance and effectiveness of the proposed control strategy.

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在具有领导者-追随者结构的多代理系统的仿射编队操纵控制中，外部干扰很容易导致编队形状变形，从而影响一系列级联反应。因此，仿射编队控制中抗扰动的鲁棒性一直是一个有待确定的课题。针对这一问题，本研究利用误差符号的鲁棒积分（RISE）方法，引入了一种连续鲁棒控制器，旨在抑制外部干扰，同时确保系统在领导者决定的各种集体编队机动下的有效收敛速度。控制器设计用于处理两类干扰模型：一类涉及一般干扰，另一类考虑时延干扰。它包括基于应力矩阵和图论的编队跟踪项，以及利用 RISE 的干扰抑制项。推导出了两种干扰下仿射编队稳定性的充分条件。通过设计一个整合 P 类函数的 Lyapunov 函数，闭环系统的指数稳定性得到了严格证明。最后，还提供了仿真结果，以验证所提控制策略的性能和有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Systems Journal 工程技术-电信学

CiteScore

9.80

自引率

6.80%

发文量

572

审稿时长

4.9 months

期刊介绍： This publication provides a systems-level, focused forum for application-oriented manuscripts that address complex systems and system-of-systems of national and global significance. It intends to encourage and facilitate cooperation and interaction among IEEE Societies with systems-level and systems engineering interest, and to attract non-IEEE contributors and readers from around the globe. Our IEEE Systems Council job is to address issues in new ways that are not solvable in the domains of the existing IEEE or other societies or global organizations. These problems do not fit within traditional hierarchical boundaries. For example, disaster response such as that triggered by Hurricane Katrina, tsunamis, or current volcanic eruptions is not solvable by pure engineering solutions. We need to think about changing and enlarging the paradigm to include systems issues.