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Volume 1 Issue 2
Apr.  2014

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Wen Qin, Zhongxin Liu and Zengqiang Chen, "Formation Control for Nonlinear Multi-agent Systems with Linear Extended State Observer," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 2, pp. 171-179, 2014.
Citation: Wen Qin, Zhongxin Liu and Zengqiang Chen, "Formation Control for Nonlinear Multi-agent Systems with Linear Extended State Observer," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 2, pp. 171-179, 2014.

Formation Control for Nonlinear Multi-agent Systems with Linear Extended State Observer


This work was supported by National Natural Science Foundation of China (61174094), Program for New Century Excellent Talents in University of China (NCET-10-0506), Natural Science Foundation of Tianjin (13JCYBJC17400, 14JCYBJ18700).

  • This paper investigates the formation control problem for nonlinear multi-agent systems with a virtual leader. A distributed formation control strategy based on linear extended state observer (LESO) is proposed under the hypothesis that velocity of the agent's neighbors could not be measured. Some sufficient conditions are established to ensure that the nonlinear multi-agent systems form a predefined formation with switching topology when the nonlinear function is known. Moreover, the tracking errors are bounded with external disturbance. Lastly, a numerical example with different scenarios is presented to demonstrate the validity of the obtained results.


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