Robust semiglobal swarm tracking of coupled harmonic oscillators with input saturation and external disturbance
Xiaoling Wang, Housheng Su, Xiaofan Wang, Guanrong Chen · International Journal of Robust and Nonlinear Control · 2017
Summary The robust semiglobal swarm tracking problem of N coupled harmonic oscillators and 1 actual leader with input saturation and external disturbance on a directed communication topology is considered, in which the N coupled harmonic oscillators are referred to followers. First, the low‐and‐high gain feedback technique is introduced to construct a relative state‐dependent control algorithm. Then, an observer‐based control algorithm is designed based on the low‐and‐high gain feedback technique and the high‐gain observer design methodology. Sufficient conditions are derived to guarantee robust semiglobal swarm tracking for state‐feedback control and output‐feedback control, respectively. Numerical simulations are finally provided to verify the theoretic results.