Robust fixed-time consensus tracking with application to formation control of unicycles

被引：41

作者：

Chu, Xing ^{[1
]}

Peng, Zhaoxia ^{[2
]}

Wen, Guoguang ^{[3
]}

Rahmani, Ahmed ^{[1
]}

机构：

[1] Ecole Cent Lille, UMR CNRS 9189, CRIStAL, Villeneuve Dascq, France

[2] Beihang Univ, Sch Transportat Sci & Engn, Beijing, Peoples R China

[3] Beijing Jiaotong Univ, Dept Math, Beijing, Peoples R China

来源：

IET CONTROL THEORY AND APPLICATIONS | 2018年 / 12卷 / 01期

基金：

中国国家自然科学基金;

关键词：

mobile robots; multi-robot systems; multi-agent systems; robust control; Lyapunov methods; position control; tracking; variable structure systems; robust fixed-time consensus tracking; unicycle formation control; second-order multiagent systems; fixed topology; nonlinear protocol; sufficient conditions; sliding mode technique; Lyapunov theory; finite-time consensus tracking; tracking errors; fixed-time formation tracking problem; unicycle-type robots; MULTIAGENT SYSTEMS; LEADER; STABILIZATION; NETWORKS;

D O I：

10.1049/iet-cta.2017.0319

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 study investigates the robust fixed-time consensus tracking problem of second-order multi-agent systems under fixed topology. A novel type of non-linear protocol and the corresponding sufficient conditions for achieving robust fixed-time consensus tracking are proposed with the aid of sliding mode technique and Lyapunov theory. Compared to finite-time consensus tracking, the convergence time of the tracking errors is globally bounded for any initial conditions of the agents, which is also the global information for each agent. Furthermore, the results obtained for second-order multi-agent systems are also extended to deal with the fixed-time formation tracking problem for unicycle-type robots. Extensive numerical experiments are performed to illustrate the effectiveness of the present theoretical results.

引用

页码：53 / 59

页数：7

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