Event-triggered formation control of AUVs with fixed-time RBF disturbance observer

2021 ◽  
Vol 112 ◽  
pp. 102638
Author(s):  
Hongbin Wang ◽  
Bo Su
Keyword(s):  
Disturbance Observer ◽  
Formation Control ◽  
Fixed Time ◽  
Event Triggered

scholarly journals Formation Control for Multiple Quadrotor Aircraft via Fixed-time Consensus Algorithm

2019 ◽  
Vol 2019 ◽  
pp. 1-11
Author(s):  
Xiaohua Zhang ◽  
Junli Gao ◽  
Wenfeng Zhang ◽  
Tao Zeng ◽  
Liping Ye
Keyword(s):  
Disturbance Observer ◽  
Formation Control ◽  
External Disturbance ◽  
Theoretical Method ◽  
Fixed Time ◽  
Consensus Algorithm ◽  
Time Control ◽  
Quadrotor Aircraft ◽  
Attitude Controller ◽  
Accurate Observation

This paper mainly studies the formation control problem of multiple quadrotor aircraft via fixed-time control theory. First, based on the bilimit homogeneous theory and the framework of multiagent theory, for multiaircraft, a fixed-time formation control strategy is proposed. Considering the external disturbance existing on the attitude loop of the aircraft, the corresponding fixed-time disturbance observer is designed with the observer technology. Then, a fixed-time attitude controller is designed based on the accurate observation and fast compensation from the disturbance observer. Finally, some simulations are performed to verify the effectiveness of the proposed theoretical method.

Fixed-time tracking control for two-link rigid manipulator based on disturbance observer

2021 ◽  
pp. 014233122098363
Author(s):  
Heli Gao ◽  
Mou Chen
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Inverse Dynamics ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Fixed Time ◽  
Extended State

This paper studies the fixed-time disturbance estimate and tracking control for two-link manipulators subjected to external disturbance. A fixed-time extended-state disturbance observer (FxTESDO) is proposed by improving the extended state observer. Also, a fixed-time inverse dynamics tracking control (FxTIDTC) scheme based on the FxTESDO is given for two-link manipulators. The fixed-time convergence of the FxTESDO and FxTIDTC is proved by the Lyapunov stability theory and with the aid of the bi-limit homogeneous technique. Numerical simulations are employed to illustrate the effectiveness of the proposed FxTIDTC.

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