Research Papers

Distributed Observer Type Protocol for Flocking of Linear Second-Order Multi-Agent Systems Subject to External Disturbance

[+] Author and Article Information
Sahar Yazdani

Department of Electrical Engineering,
Islamic Azad University,
Zanjan Branch,
Zanjan 5814545156, Iran
e-mail: sahar.yazdani@iauz.ac.ir

Mohammad Haeri

Advanced Control Systems Lab,
Electrical Engineering Department,
Sharif University of Technology,
Tehran 11155-4363, Iran
e-mail: haeri@sina.sharif.edu

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received August 19, 2017; final manuscript received January 24, 2019; published online February 21, 2019. Editor: Joseph Beaman.

J. Dyn. Sys., Meas., Control 141(6), 061004 (Feb 21, 2019) (7 pages) Paper No: DS-17-1415; doi: 10.1115/1.4042671 History: Received August 19, 2017; Revised January 24, 2019

This paper studies the leader–follower flocking of multi-agent systems for the linear second-order dynamics, subject to the external disturbance problem. It is assumed that the dynamic of the leader is Lipschitz-type. Also, the velocity is the output of the system, and full-state information is not available for feedback. A distributed full-order observer is employed to estimate every agent's states and external disturbance. A control protocol for each agent is designed based on the measurement of its output/velocity and relative velocity of its neighbors. Under the proposed protocol, the velocity convergence of whole agents to the velocity of the virtual leader is guaranteed as well as the connectivity of network and collision avoidance among agents are ensured. Finally, a simulation example is provided to show the effectiveness of the results.

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Grahic Jump Location
Fig. 1

The block diagram of closed-loop system

Grahic Jump Location
Fig. 2

Trajectory of agents

Grahic Jump Location
Fig. 3

Norm of estimation error of each agent's states and its external disturbance

Grahic Jump Location
Fig. 4

Trajectory of velocity of agents and virtual leader



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