Signal Generator Based Prescribed-Time Anti-Disturbance Containment Control for Multi-agent Systems with An Application to Multiple Manipulator System

Chen Zhang, Mingfeng Guan, Guangming Zhang

科研成果: 书/报告/会议事项章节会议稿件同行评审

1 引用 (Scopus)

摘要

This paper investigates the distributed containment control problem for a class of multi-agent systems containing uncertainties and external disturbances. We propose an embedded control structure consisting of two modules to address this issue. In module I, a containment control signal generator with prescribed-time convergence is constructed by combining prescribed-time control and containment control, and its output signal is capable of achieving the desired containment control objective. In Module II, the output of the signal generator serves as the reference trajectory for the actual agent. In order to estimate the nonlinear term and disturbances in the system, an extended state observer is combined, and then prescribed-time feedback anti-disturbance tracking controllers are designed for the agents to track the corresponding outputs of the signal generator. The two-layer control framework allows the multi-agent systems to attain the objective of prescribed-time containment control. In contrast to previous studies, the proposed distributed containment control algorithm can prevent the real agents from being impacted by the convoluted communication network and has remarkable anti-disturbance qualities. The designed controller's effectiveness is confirmed through numerical simulations.

源语言英语
主期刊名2024 International Conference on Advanced Control Systems and Automation Technologies, ACSAT 2024
出版商Institute of Electrical and Electronics Engineers Inc.
44-48
页数5
ISBN(电子版)9798331541668
DOI
出版状态已出版 - 2024
活动2024 International Conference on Advanced Control Systems and Automation Technologies, ACSAT 2024 - Nanjing, 中国
期限: 15 11月 202417 11月 2024

出版系列

姓名2024 International Conference on Advanced Control Systems and Automation Technologies, ACSAT 2024

会议

会议2024 International Conference on Advanced Control Systems and Automation Technologies, ACSAT 2024
国家/地区中国
Nanjing
时期15/11/2417/11/24

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