Semi-Global Adaptive Sampled-Data Formation Control for a Class of Uncertain Nonlinear Multiagent Systems
Quangui He, Wei Liu · IEEE Transactions on Systems Man and Cybernetics Systems · 2025
This article studies the semi-global adaptive sampled-data formation control problem for a class of nonlinear multiagent systems. The nonlinear growth rate is not limited, which expands the applicable scope of the obtained results. To remove the assumption that the system matrix of the leader system can be obtained by all follower systems, a sampled-data adaptive distributed observer is proposed to estimate not only the state but also the system matrix of the leader system, which are measured only at discrete time. All the estimation errors of the observers tend to zero as time tends to infinity. Then, by using the estimated state, a sampled-data adaptive control law is designed to achieve the formation control practically. Finally, a simulation example is shown to demonstrate the feasibility of our result.