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- Title
An adaptive bearing rigid formation control of multi-agent systems with nonlinear dead-zone inputs.
- Authors
Wang, Qin; Chen, Zitao; Yi, Yang; Shen, Qingcheng
- Abstract
In this paper, an adaptive bearing rigid formation control strategy for a class of nonlinear system with unknown dead-zone inputs and external disturbance is proposed. Firstly, the I-Type fuzzy system is used to approximate the unknown nonlinear dynamics of the formation model, and the approximation errors and unknown external disturbance are eliminated by the parameter adaptive estimation. Furthermore, the adaptive dynamic estimation algorithm is utilized to estimate and compensate the unknown dead-zone parameters, effectively suppressing the impact of dead-zone on formation system performance. Finally, the stability of the formation system is proved based on LaSalle's invariance principle, and the effectiveness of the algorithm is verified by simulation results.
- Subjects
NONLINEAR systems; ADAPTIVE fuzzy control; MULTIAGENT systems; APPROXIMATION error; FUZZY systems; PARAMETER estimation
- Publication
Measurement & Control (0020-2940), 2024, Vol 57, Issue 5, p590
- ISSN
0020-2940
- Publication type
Article
- DOI
10.1177/00202940231214316