Robust Formation Maneuvers Through Sliding Mode for Multi-agent Systems With Uncertainties

Dianwei Qian; Chengdong Li; SukGyu Lee; Chao Ma

doi:10.1109/JAS.2017.7510787

Volume 5 Issue 1

Jan. 2018

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2018 > 5(1): 342-351

Dianwei Qian, Chengdong Li, SukGyu Lee and Chao Ma, "Robust Formation Maneuvers Through Sliding Mode for Multi-agent Systems With Uncertainties," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 342-351, Jan. 2018. doi: 10.1109/JAS.2017.7510787

Citation:

Dianwei Qian, Chengdong Li, SukGyu Lee and Chao Ma, "Robust Formation Maneuvers Through Sliding Mode for Multi-agent Systems With Uncertainties," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 342-351, Jan. 2018. doi: 10.1109/JAS.2017.7510787

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Robust Formation Maneuvers Through Sliding Mode for Multi-agent Systems With Uncertainties

doi: 10.1109/JAS.2017.7510787

Dianwei Qian^{1
,
,},
Chengdong Li^2
,,
SukGyu Lee^3
,,
Chao Ma^1
,

1.
School of Control and Computer Engineering, North China Electric Power University, Beijing 102206, China
2.
School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China
3.
Department of Electrical Engineering, Yeungnam University, Gyeongsan 712749, Republic of Korea

Funds:

This work was supported by the National Natural Science Foundation of China 60904008

This work was supported by the National Natural Science Foundation of China 61473176

the Natural Science Foundation of Shandong Province for Outstanding Young Talents in Provincial Universities ZR2015JL021

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Author Bio:
Dianwei Qian received the B.E. degree from the Hehai University, Nanjing, China, in 2003. He received the M.E. degree from the Northeastern University, Shenyang, China and the Ph.D. degree from the Institute of Automation, Chinese Academy of Sciences, Beijing, China, in 2005 and 2008, respectively. Currently, he is an Associate Professor with the School of Control and Computer Engineering, North China Electric Power University, Beijing, China. His research interests include the theory and applications of nonlinear control.(e-mail:dianwei.qian@ncepu.edu.cn)

Chengdong Li received the Ph.D. degree from the Institute of Automation, Chinese Academy of Sciences, Beijing, China, in 2010. He is currently an Associate Professor with the School of Information and Electrical Engineering, Shandong Jianzhu University. His major research interests include datadriven modeling and control, fuzzy logic theory and applications, fuzzy neural networks and other computational intelligence methods. He has authored and co-authored over 80 papers in international journals and conferences. He has been the Program Committee Member of several international conferences and the reviewer for several international conferences and journals.(e-mail:chengdong.li@foxmail.com)

SukGyu Lee received the B.S. and M.S. degrees in electrical engineering from the Seoul National University in 1979 and 1981, respectively, and he received the Ph.D. degree in electrical engineering from UCLA in 1990. His research interests include robotics, SLAM, nonlinear control and adaptive control.(e-mail:sglee@ynu.ac.kr)

Chao Ma received the B.E. degree in the Northeastern University at Qinhuangdao, Qinhuangdao, China, in 2012. Currently, he is a Post-graduate Student in the School of Control and Computer Engineering, North China Electric Power University, Beijing, China. He research interests include intelligent control and robot control.(e-mail:hhu_new@163.com)
Corresponding author: Dianwei Qian, e-mail:dianwei.qian@ncepu.edu.cn
Received Date: 2016-10-30
Accepted Date: 2017-02-06

Abstract

Abstract

This paper develops a robust control method for formation maneuvers of a multi-agent system. The multi-agent system is leader-follower-based, where the graph theory is utilized to describe the information exchange among the agents. The control method is exercised via sliding mode methodology where each agent is subjected to uncertainties. The technique of nonlinear disturbance observer is adopted in order to overcome the adverse effects of the uncertainties. Assuming that the uncertainties have an unknown bound, the formation stability conditions are investigated according to a given communication topology. In the sense of Lyapunov, not only the formation maneuvers of the multi-agent system have guaranteed stability, but the desired formations of the agents are also realized. Compared with other two control approaches, i.e., the basic sliding mode approach and the fuzzy sliding mode approach, some numerical results are presented to illustrate the effectiveness, performance and validity of the robust control method for formation maneuvers in the presence of uncertainties.
- Formation control,
- multi-agent systems,
- nonlinear disturbance observer,
- sliding mode,
- uncertainties

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References(27)

References

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Robust Formation Maneuvers Through Sliding Mode for Multi-agent Systems With Uncertainties

doi: 10.1109/JAS.2017.7510787

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