Distributed estimation and control of multiple nonholonomic mobile agents with external disturbances

2019 ◽  
Vol 356 (2) ◽  
pp. 975-997
Author(s):  
Ahmadreza Jenabzadeh ◽  
Behrouz Safarinejadian
Keyword(s):  
Mobile Agents ◽  
Distributed Estimation ◽  
External Disturbances ◽  
Estimation And Control ◽  
And Control

Tracking control problem in multiagent systems with Lipschitz nonlinearities and external disturbances

2018 ◽  
Vol 41 (3) ◽  
pp. 760-767 ◽  
Author(s):  
Ahmadreza Jenabzadeh ◽  
Behrouz Safarinejadian
Keyword(s):  
Control Problem ◽  
Multiagent Systems ◽  
Tracking Control ◽  
Control Algorithm ◽  
Distributed Estimation ◽  
External Disturbances ◽  
Estimation And Control ◽  
The Stability ◽  
And Control ◽  
Disturbance Estimator

This paper investigates the tracking control problem of multiagent systems with Lipschitz nonlinearities and external disturbances that track a target with states that are not available to any of the agents. For this purpose, a distributed estimation and control algorithm (DECA) is firstly designed for each agent to estimate and track the target’s states. Then, the proposed DECA is extended based on a finite time disturbance estimator for tracking control in the presence of external disturbances. The stability analysis of suggested algorithms is also considered. Simulation examples illustrate the promising performance of the proposed algorithms.

Implementation of State and Disturbance Estimation for Quadrotor Control Using Extended High-Gain Observers

2016 ◽  
Author(s):  
Connor J. Boss ◽  
Joonho Lee ◽  
Charles Carvalho de Aguiar ◽  
Jongeun Choi
Keyword(s):  
Control Algorithm ◽  
High Gain ◽  
Dynamic Inversion ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Disturbance Estimation ◽  
Sample Data ◽  
Estimation And Control ◽  
Control Forces ◽  
And Control

This paper proposes a discrete-time, multi-time-scale estimation and control design for quadrotors in the presence of external disturbances and model uncertainties. Assuming that not all state measurements are available, they will need to be estimated. The sample-data Extended High-Gain Observers are used to estimate unmeasured states, system uncertainties, and external disturbances. Discretized dynamic inversion utilizes those estimates and deals with an uncertain principal inertia matrix. In the plant dynamics, the proposed control forces the rotational dynamics to be faster than the translational dynamics. Numerical simulations and experimental results verify the proposed estimation and control algorithm. All sensing and computation is done on-board the vehicle.

Sign in / Sign up

Export Citation Format

Share Document