发表机构
East Asia University of Technology; University of Southern California; Ghost Robotics; Hanoi University of Science and Technology（东亚理工大学; 南加州大学; 幽灵机器人公司; 河内科技大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对受未知上界扰动影响的无领导有向轴承约束编队，提出自适应滑模控制实现一致全局渐近镇定，并设计平滑控制律抑制抖振，保证编队有界性。
AI 中文摘要
本文研究了在扰动下调节并维持由一组双向轴承约束表征的目标编队的问题。编队中的智能体被建模为具有有界连续扰动的单积分器，且扰动的上界对于控制设计而言是未知的。由于时变扰动的存在，目标编队也是时变的。我们提出了自适应滑模控制律，以一致全局渐近镇定移动目标编队并抑制匹配扰动。此外，为减轻滑模控制引起的抖振现象，随后设计了平滑自适应控制律，以保证期望编队的一致全局有界性。最后，给出了仿真结果以支持上述分析。
英文摘要
In this paper, we consider the problem of regulating and maintaining a target formation characterized by a set of bidirectional bearing constraints under disturbances. The agents in the formation are modeled by single integrators with bounded continuous disturbances of which the upper bound is unavailable for the control design. Due to the time-varying disturbances, the target formation is time-varying. We propose adaptive sliding mode control laws to uniformly globally asymptotically stabilizes the moving target formation and reject the matched disturbances. In addition, to alleviate chattering phenomena from sliding mode control, smooth adaptive control laws are then designed to guarantee uniform global boundedness of the desired formation. Finally, simulation results are given to support the analysis.
Comments12 pages, 6 figures, preprint, submitted to a journal
