Robust Affine Maneuver Formation Control with Input Delay and Disturbance
MA Dengjun
ZHANG Peng
LI Mengwei
Abstract：A novel robust affine formation control algorithm with prescribed performance is proposed for the multi-agent affine maneuver tracking control problem with input time delay and disturbances.Firstly,the time-delay system is converted into a time delay-free system by using the Artstein model reduction method.Performance bounds are set on the tracking error of the system by a prescribed performance function.A new control law is designed using the error transition function that allows the multi-agent system to achieve affine formation maneuver control despite input time delays and disturbances.The stability of the system is proved using input-to-state stabilization and Lyapunov based analysis.Finally,the simulation paradigm shows the effectiveness of the proposed control scheme.
Keywords：robust controlprescribed performance controlformation controlinput delayunknown disturbance
Publication Date：2023-12-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 33-37,44 )