Formation Tracking Control Algorithm for Multi-agent Combined with Fast Terminal Sliding Mode Control And Disturbance Observer
Daewon Park, Hansol Jeong, Nguyen Ngoc Phi, Sung Kyung Hong · 2021 21st International Conference on Control, Automation and Systems (ICCAS) · 2021
This paper presents a robust formation tracking control algorithm for multi-agent system in a finite time. For faster convergence and less steady state error than the existing formation tracking algorithm, we first propose a fast and robust formation tracking control algorithm by using the fast terminal sliding mode control. Then, a disturbance observer algorithm is added to formation tracking control law to handle external disturbances. The stability of the algorithm is verified by Lyapunov theory. The numerical simulation is proposed to show the effectiveness of proposed method using MATLAB environment.