Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Reduced-order Disturbance Observer based Coordinated Tracking of Uncertain Heterogeneous Multi-Agent Systems

축소 차수 외란 관측기를 이용한 이종 다개체 시스템의 협조 추종 제어

  • Kim, Jung-Su (Department of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Back, Juhoon (School of Robotics, Kwangwoon University)
  • 김정수 (서울과학기술대학교 전기정보공학과) ;
  • 백주훈 (광운대학교 로봇학부)
  • Received : 2014.09.04
  • Accepted : 2014.10.21
  • Published : 2014.12.01
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Abstract

This paper proposes a reduced-order disturbance observer based coordinated tracking controller for uncertain heterogeneous multi-agent systems. To this end, first the control problem is converted as a robust control problem. Then, a dynamic coordinated controller is designed based on the recently proposed reduced-order disturbance observer. Simulation results are given to show the effectiveness of the proposed control scheme.

본 논문에서는 축소 차수 외란 관측기를 이용하여 외란이 있는 이종 다개체 시스템을 위한 협조 추종 제어기를 제안하였다. 이를 위해 우선 주어진 제어 문제가 외란과 모델 불확실성을 가지는 시스템을 위한 강인 제어 문제로 변환 될 수 있음을 보이고 변환된 문제에 외란 관측기 기반의 동적 협조 추종 제어기를 설계하였다. 모의 실험을 통해서 제안하는 이종 다개체 시스템의 협조 추종을 성공적으로 달성함을 보였다.

Keywords

References

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