Robust Constraint-Following Control for Networked Multiagent Systems With Uncertainties
针对不确定网络化多智能体系统的时变编队控制问题，提出一种两步鲁棒约束跟随控制方法，先构建运动学约束，再设计控制器抑制不确定性，并用四旋翼群验证。
Aiming to address the time-varying formation control problem of uncertain and networked multiagent systems, this article develops a novel robust constraint-following control approach, which is implemented in two steps. First, a kinematic model (i.e., kinematic constraint) for each agent is constructed by employing local tracking errors; this constraint mainly ensures formation maintenance and trajectory following. Second, based on the kinematic model, and to attenuate time-varying uncertainties, a robust constraint-following controller is meticulously designed. This controller not only ensures the strict satisfaction of kinematic constraints but also sufficiently suppresses time-varying uncertainties. Ultimately, an application to quadrotor swarm is provided to illustrate the proposed control scheme.