Event-Triggered Finite-Time Integral Sliding Mode Controller for Consensus-Based Formation of Multirobot Systems With Disturbances

被引：222

作者：

Nair, Ranjith Ravindranathan ^{[1
]}

Behera, Laxmidhar ^{[1
]}

Kumar, Swagat ^{[2
]}

机构：

[1] IIT Kanpur, Dept Elect Engn, Kanpur 208016, Uttar Pradesh, India

[2] TCS Innovat Labs, Bengaluru, India

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2019年 / 27卷 / 01期

关键词：

Finite-time event-triggered consensus; finite-time integral sliding mode control (SMC); leader-follower consensus; multirobot system; MULTIAGENT SYSTEMS;

D O I：

10.1109/TCST.2017.2757448

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with the distributed fast and finite-time consensus problem of multiagent systems with bounded disturbances in a leader-follower-based frame work. A novel integral sliding mode-based robust finite-time event-triggered control strategy has been proposed. A fast reaching law is also utilized to improve the speed of convergence. The triggering condition is derived based on the defined novel measurement error, suited for systems with model uncertainties/disturbances. The expression for the lower bound for the interexecution time has been derived to ensure that the zeno behavior is avoided. The proposed nonlinear consensus protocol is such that the desired relative state deviation between the agents can be achieved with a directed graph topology. The theoretical results are validated through real-time experimentations done using Pioneer P3-DX as well as FireBird VI robots.

引用

页码：39 / 47

页数：9

共 29 条

[1] Event-triggered sliding mode control for a class of nonlinear systems [J].

Behera, Abhisek K. ;

Bandyopadhyay, Bijnan .

INTERNATIONAL JOURNAL OF CONTROL, 2016, 89 (09) :1916-1931

[2] Self-triggering-based sliding-mode control for linear systems [J].

Behera, Abhisek K. ;

Bandyopadhyay, Bijnan .

IET CONTROL THEORY AND APPLICATIONS, 2015, 9 (17) :2541-2547

[3]

Cheng TH, 2014, IEEE DECIS CONTR P, P1244, DOI 10.1109/CDC.2014.7039552

[4] Broadcast Control Mechanism for Positional Consensus in Multiagent Systems [J].

Das, Kaushik ;

Ghose, Debasish .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2015, 23 (05) :1807-1826

[5] Design, Analysis, and Experimental Validation of a Distributed Protocol for Platooning in the Presence of Time-Varying Heterogeneous Delays [J].

di Bernardo, Mario ;

Falcone, Paolo ;

Salvi, Alessandro ;

Santini, Stefania .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2016, 24 (02) :413-427

[6] Distributed Event-Triggered Control for Multi-Agent Systems [J].

Dimarogonas, Dimos V. ;

Frazzoli, Emilio ;

Johansson, Karl H. .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2012, 57 (05) :1291-1297

[7] Self-Triggered Consensus for Multi-Agent Systems With Zeno-Free Triggers [J].

Fan, Yuan ;

Liu, Lu ;

Feng, Gang ;

Wang, Yong .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2015, 60 (10) :2779-2784

[8] VARIABLE STRUCTURE CONTROL OF NONLINEAR-SYSTEMS - A NEW APPROACH [J].

GAO, WB ;

HUNG, JC .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 1993, 40 (01) :45-55

[9] Automatic generation and detection of highly reliable fiducial markers under occlusion [J].

Garrido-Jurado, S. ;

Munoz-Salinas, R. ;

Madrid-Cuevas, F. J. ;

Marin-Jimenez, M. J. .

PATTERN RECOGNITION, 2014, 47 (06) :2280-2292

[10] Swarm aggregations using artificial potentials and sliding-mode control [J].

Gazi, V .

IEEE TRANSACTIONS ON ROBOTICS, 2005, 21 (06) :1208-1214

← 1 2 3 →