축소 차수 외란 관측기를 이용한 이종 다개체 시스템의 협조 추종 제어

This paper proposes a reduced-order disturbance observer based coordinated tracking controller for uncertain heterogeneous multi-agent systems. To this end, first the control problem is converted as a robust control problem. Then, a dynamic coordinated controller is designed based on the recently proposed reduced-order disturbance observer. Simulation results are given to show the effectiveness of the proposed control scheme.

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