High gain feedback robust control for flocking of multi-agents system
Qing Zhang, Jie Wang, Zhengquan Yang, Zengqiang Chen · Transactions of the Institute of Measurement and Control · 2019
This paper focuses on the detailed illustration over the feedback robust control of high gain for flocking of the multi-agent system. As for the second-order unknown bounded nonlinear dynamic system, the designed controller has feedback robust control of high gain. Under the action of the leader, the flocking of the multi-agent system established on the basis of high gain feedback robust control can be realized. By employing the theory of Lyapunov stability, it is observed that the velocity error between agents approaches to zero, and no collision occurs between agents. It is further proved by the simulation that the high gain feedback robust control for flocking of multi-agent system can be obtained accordingly. Compared with Qing et al. (2014), high gain feedback robust control for flocking of multi-agent system has better stability.