Volume 15, Issue 2 (Journal of Control, V.15, N.2 Summer 2021)                   JoC 2021, 15(2): 23-32 | Back to browse issues page

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Khan kalantary S, Izadi I, Sheikholeslam F. Robust time-varying formation tracking for linear multi agent system with external disturbances using linear matrix inequalities. JoC 2021; 15 (2) :23-32
URL: http://joc.kntu.ac.ir/article-1-696-en.html
Robust time-varying formation tracking for linear multi agent system with external disturbances using linear matrix inequalities
Saeed Khan kalantary1 , Iman Izadi * 1, Farid Sheikholeslam1
1- Isfahan university of technology
Abstract:   (28309 Views)
In this paper, the formation tracking of multi-agent systems is discussed. The model considered for each agent is linear with uncertain parameters. The effect of external disturbances is also considered in the model. To achieve predetermined time-varying formation, the required control input is presented. By applying this input, the closed-loop system will take the desired formation. Establishing the appropriate conditions for the realization of time-varying formation, and using the Lyapunov theory and the H_inf index to reduce the disturbance effect, results in some linear matrix inequalities. The designed parameter is then computed by solving those linear matrix inequalities. Finally, a simulation example is presented to illustrate the effectiveness of the designed strategy.
Keywords: Multi agent system, time varying formation tracking, robust control, linear matrix inequalities
Full-Text [PDF 1176 kb]   (1073 Downloads)    
Type of Article: Research paper | Subject: Special
Received: 2019/07/26 | Accepted: 2020/06/11 | ePublished ahead of print: 2020/07/6 | Published: 2021/07/4
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