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<p>This paper presents a time-energy balance based distributed formation tracking control method for multi-vehicle systems, incorporating a gain iterative disturbance observer. Firstly, a time-energy balance function is designed, which ensures a finite convergence time while establishing a positive correlation between the control input and the settling time. This correlation relaxes constraints on the control input by extending the settling time. Then, a gain-iterative disturbance observer is proposed, which utilizes the gradient descent principle to iteratively compensate for vehicular external disturbances. The observer mechanism enhances the system external disturbance rejection capability by continuously optimizing the observer gain through iterative updates. Furthermore, a distributed tracking controller for multi-vehicle systems is developed, ensuring that all system signals remain bounded, thus guaranteeing stable and robust operation of the vehicles. Finally, a simulation study demonstrates the feasibility of the control method.</p>

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Time-energy balance based distributed tracking control for Multi-vehicle systems with gain iterative disturbance observer

  • 期刊论文

  • 发表日期：

    2026年5月19日

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  • Chutian Sun,
  • Zeyi Liu,
  • Hongjing Liang,
  • Tieshan Li

摘要

This paper presents a time-energy balance based distributed formation tracking control method for multi-vehicle systems, incorporating a gain iterative disturbance observer. Firstly, a time-energy balance function is designed, which ensures a finite convergence time while establishing a positive correlation between the control input and the settling time. This correlation relaxes constraints on the control input by extending the settling time. Then, a gain-iterative disturbance observer is proposed, which utilizes the gradient descent principle to iteratively compensate for vehicular external disturbances. The observer mechanism enhances the system external disturbance rejection capability by continuously optimizing the observer gain through iterative updates. Furthermore, a distributed tracking controller for multi-vehicle systems is developed, ensuring that all system signals remain bounded, thus guaranteeing stable and robust operation of the vehicles. Finally, a simulation study demonstrates the feasibility of the control method.