Disturbance Observer Based Formation Control for Uncertain Mechanical Systems with Input Quantization and Event-Triggered Mechanism

The article presents an event-triggered mechanism and input quantization to thoroughly investigate formation tracking control for a collection of nonlinear uncertain mechanical systems utilizing a disturbance observer. The principal objective is to conserve communication resources while alleviating signal load. A disturbance observer is employed for accurate estimation to tackle the inherent time-varying external disturbance difficulties in the control system. A linear model is proposed to elucidate the quantization process. The adaptive tracking control system may accurately follow the required input by supplying the controller with specifically engineered quantized control inputs, without requiring prior knowledge of the quantization parameters. Furthermore, this article employs hierarchical design techniques to divide the multi-agent trajectory tracking strategy into kinematic and dynamic components. The novelty of the proposed approach lies in simultaneously considering event triggering and input quantization, while using a disturbance observer to estimate the time-varying external disturbance. Moreover, based on Lyapunov stability theory, the stability of the multi-agent adaptive trajectory tracking control system, combining event-triggered mechanism and input quantization, is proven. Finally, experimental simulations validate the effectiveness, rationality, and practical applicability of the proposed strategy.