Linear-Extended-State-Observer Based Pinning Control of Nonlinear Multi-Robots System

Abstract

In this paper, the pinning control problem of nonlinear multi-robots system (MRS) is investigated. By introducing Linear-Extended-State-Observer (LESO) approach, a LESO based pinning control algorithm is proposed for the multi-robots system with non-identical unknown nonlinear dynamics. By pinning one robot with small coupling strength, a LESO based control algorithm has been developed to guarantee the nonlinear multi-robots system to reach synchronisation when the nonlinear function is given. Furthermore, the tracking errors of the following robots are bounded when the nonlinear function is unknown. Finally, numerical simulations with different scenarios are presented to illustrate the effectiveness of the theoretical results.

Keywords

• Linear-extended-state-observer
• pinning control
• multi-robots system
• state synchronization
• nonlinear system