A DR-TVFC distributed robust time-varying formation control algorithm considering MAS matlab

Описание: A DR-TVFC distributed robust time-varying formation control algorithm considering MAS under interference effects


Introduction:
DR-TVFC is based on SMC (Sliding Mode Control), which decouples the perception task and the shaping task to achieve distributed formation tracking control of MAS.
This algorithm considers the time-varying formation tracking control problem of second-order multi-agent systems under interference. DR-TVFC (Distributed Robust Time Varying Formation Control) was proposed, which includes a distributed finite time estimator of leader state and a sliding mode time-varying formation controller. Firstly, each intelligent agent can quickly estimate the leader's state through a communication network in a distributed finite time estimator based on sliding mode estimation; Secondly, utilizing the estimation of the leader's state, a sliding mode time-varying formation controller was designed using a prescribed time modification function. Unlike traditional distributed control methods that rely on agent state exchange, the proposed control design achieves high robustness and stability of the entire system by exchanging estimates of leader states. Based on Lyapunov stability analysis, we have demonstrated that the proposed method enables fast finite time convergence of sliding variables. In addition, simulation examples are provided to illustrate performance.

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