Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2014.14.0098

Reduced-order Disturbance Observer based Coordinated Tracking of Uncertain Heterogeneous Multi-Agent Systems  

Kim, Jung-Su (Department of Electrical and Information Engineering, Seoul National University of Science and Technology)
Back, Juhoon (School of Robotics, Kwangwoon University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.12, 2014 , pp. 1231-1237 More about this Journal
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.
Keywords
coordinated tracking; heterogeneous multi-agent systems; disturbance observer;
Citations & Related Records
연도 인용수 순위
  • Reference
1 J. Back and J.-S. Kim, "A disturbance observer based practical coordinated tracking controller for uncertain heterogeneous multi-agent systems," Int. Journal of Robust and Nonlinear Control, In press, 2014.
2 J. Back and H. Shim, "Adding robustness to nominal output-feedback controllers for uncertain nonlinear systems: A nonlinear version of disturbance observer," Automatica, vol. 44, pp. 2528-2537, 2008.   DOI   ScienceOn
3 J. Back, H. Shim, N. H. Jo, and J.-S. Kim, "Robust tracking by reduced-order disturbance observer: Linear case," In 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, FL, USA, pp. 3514-3519, Dec. 2011.
4 Y. Cao and W. Ren, "Distributed coordinated tracking with reduced interaction via a variable structure approach," IEEE Trans. Autom. Control, vol. 57, no. 1, pp. 33-48, 2012.   DOI
5 Y. Cao, W. Yu, W. Ren, and G. Chen, "An overview of recent progress in the study of distributed multiagent coordination," IEEE Trans. on Industrial Informatics, Special issue on Advances in Theories and Industrial Applications of Networked Control Systems, vol. 9, no. 1, pp. 427-438, 2013.
6 J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations," IEEE Trans. Autom. Control, vol. 49, no. 9, pp. 1465-1476, 2004.   DOI   ScienceOn
7 Y. Hong, J. Hua, and L. Gao, "Tracking control for multi-agent consensus with an active leader and variable topology," Automatica, vol. 42, pp. 1177-1182, 2006.   DOI   ScienceOn
8 G. Hu, "Robust consensus tracking for an integratortype multi-agent system with disturbances and unmodeled dynamics," International Journal of Control, vol. 84, no. 1, pp. 1-8, 2011.   DOI   ScienceOn
9 J. Hu and G. Feng, "Distributed tracking control of leader-follower multiagent systems under noisy measurement," Automatica, vol. 46, no. 8, pp. 1382-1387, 2010.   DOI   ScienceOn
10 H. K. Khalil, Nonlinear Systems, 3rd Ed., Prentice-Hall, Upper Saddle River, NJ, 2002.
11 H. Kim, H. Shim, and J. H. Seo, "Output consensus of heterogeneous uncertain linear multi-agent systems," IEEE Trans. Autom. Control, vol. 56, no. 1, pp. 200-206, 2011.   DOI   ScienceOn
12 Z. Li, X. Liu, W. Ren, and L. Xie, "Distributed tracking cobntrol for linear multiagent systems with a leader of bounded unknown input," IEEE Trans. Autom. Control, vol. 58, no. 2, pp. 518-523, 2013.   DOI   ScienceOn
13 R. Olfati-Saber, J. A. Fax, and R. M. Murray, "Consensus and cooperation in networked multi-agent systems," Proc. of IEEE, vol. 95, no. 1, pp. 215-233, 2007.   DOI   ScienceOn
14 W. Ren, R. W. Beard, and E. M. Atkins, "Information consensus in multivehicle cooperative control: collective group behavior through local interaction," IEEE Control Syst. Mag., 27(2):2007, 2007.
15 L. Scardovi and R. Sepulchre, "Synchronization in networks of identical linear systems," Automatica, vol. 45, no. 11, pp. 2557-2562, 2009.   DOI   ScienceOn
16 J. H. Seo, H. Shim, and J. Back, "SConsensus of highorder linear systems using dynamic output feedback compensator: low gain approach," Automatica, vol. 11, pp. 2659-2664, 2009.
17 D. Zelazo and M. Mesbahi, "Edge agreement: Graph theoretic performance bounds and passivity analysis," IEEE Trans. Autom. Control, vol. 56, no. 3, pp. 554-555, 2011.
18 H. L. Trentelman, K. Takaba, and N. Monshizadeh, "Robust synchronization of uncertain linear multiagent systems," IEEE Trans. Autom. Control, vol. 58, no. 6, pp. 1511-1522, 2013.   DOI
19 P. Wieland, J.-S. Kim, and F. Allgower, "On topology and dynamics of consensus among linear highorder agents," International Journal of Systems Science, vol. 42, no. 10, pp. 1831-1842, 2011.   DOI   ScienceOn
20 P. Wieland, R. Sepulchre, and F. Allgower, "An internalmodel principle is necessary and sufficient forlinear output synchronization," Automatica, vol. 47, pp. 1068-1074, 2011.   DOI   ScienceOn