Robust Hierarchical Pinning Control for Nonlinear Heterogeneous Multiagent System With Uncertainties and Disturbances

This paper investigates the coordination control problem for a special nonlinear heterogeneous multi-agent system consisting of tail-sitter unmanned aerial vehicles and unmanned ground vehicles with uncertainties and disturbances. A robust hierarchical pinning control scheme is proposed for the heterogeneous multi-agent system to restrain the uncertainties and disturbances and achieve coordination scenarios. The heterogeneous multi-agent system can realize coordination tasks by selecting proper pinning nodes and estimating coupling strength. The robustness of the whole system is proven utilizing the Lyapunov stability theorem. The effectiveness of the robust hierarchical pining control method is validated by simulation scenarios.