Formation Tracking Control for Multi-Agent Networks with Fixed Time Convergence via Terminal Sliding Mode Control Approach

Xu, Ge Ning; Li, Meng; Chen, Jie; Lai, Qiang; Zhao, Xiao‐Wen

doi:10.3390/s21041416

Cited by 12 publications

(3 citation statements)

References 35 publications

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“…The sliding mode control scheme (SMCS) is superior to other control schemes in that it switches the modes of controllers with the current state [ 2 , 9 ]. There are various SMC strategies, such as terminal SMC [ 10 , 11 ], dynamic SMC [ 12 ] and adaptive SMC [ 13 ], and so on. SMC is widely used in practical engineering applications with excellent and robust performance [ 14 ], such as stochastic systems [ 15 ], robot MASs [ 16 ] and heterogeneous nonlinear MASs [ 17 ].…”

Section: Introductionmentioning

confidence: 99%

Event-Triggered Sliding Mode Neural Network Controller Design for Heterogeneous Multi-Agent Systems

Shen

Gao

Liu

2023

Sensors

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A class of heterogeneous second-order multi-agent consensus problems is studied, in which an event-triggered method is used to improve the feasibility of the control protocol. The sliding mode control method is used to achieve the robustness of the system. A special type of general radial basis function neural network is applied to estimate the uncertainties. The event-triggered mechanism is introduced to reduce the update frequency of the controller and the communication frequency among the agents. Zeno behavior is avoided by ensuring a lower bound between two adjacent trigger instants. Finally, the simulation results are provided to demonstrate that the time evolution of consensus errors eventually approaches zero. The consensus of multi-agent systems is achieved.

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Section: Introductionmentioning

confidence: 99%

Event-Triggered Sliding Mode Neural Network Controller Design for Heterogeneous Multi-Agent Systems

Shen

Gao

Liu

2023

Sensors

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“…In [22], Liu et al used the stability of impulse systems and the theory of the convex hull, and a distributed impulse protocol was designed to realize the leader-following consensus, which was extended to the leaderless consensus of MASs with nonlinear models in [23]. Xu et al studied the fixed-time formation issue, under the control protocol based on the terminal sliding mode control, and the feasibility of the scheme was verified by the Lyapunov stability theory and the fixed-time stability theory in [24].…”

Section: Introductionmentioning

confidence: 99%

Global Consensus of High-Order Discrete-Time Multi-Agent Systems with Communication Delay and Saturation Constraint

Tan

Cui

2022

Sensors

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This article aimed to study the global consensus problem of high-order multi-agent systems with a saturation constraint and communication delay. Among them, all agents are described by discrete-time systems. Firstly, in order to compensate for the communication delay, a networked predictive control method is adopted and a predictive-based control protocol is designed. Secondly, for the neutrally stable agent model, leaderless and leader-following situations are considered and it is proven that, under a fixed communication topology, adopting the prediction-based control protocol makes the multi-agent systems with saturation constraint and communication delay achieve a global consensus. Finally, the results are illustrated via numerical simulation.

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“…However, in some practical applications, the dynamics of swarm systems can only be described by more complex high-order models, such as swarm systems of a multi-joint robotic manipulator. So far, many results on formation control of high-order systems have emerged [20][21][22][23], including time-varying systems, fixed-time, switching topologies and time delays, for example. In addition to time-varying formation control that achieves the desired formation, there is a requirement for the desired formation to track a certain trajectory in some practical applications.…”

Section: Introductionmentioning

confidence: 99%

Distributed H∞ and H2 Time-Varying Formation Tracking Control for Linear Multi-Agent Systems with Directed Topologies

Chen

Cheng

et al. 2022

Mathematics

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In this paper, the H∞ and H2 time-varying formation tracking problems for multi-agent systems with directed topologies in the presence of external disturbances are investigated. The followers need to achieve the desired time-varying formation during movement and simultaneously track the state trajectory generated by the leader. First, a distributed consensus protocol based on the local state information of neighbors of the agents for solving H∞ and H2 time-varying formation tracking problems are proposed without utilizing global information about the entire agents. The conditions to achieve H∞ and H2 time-varying formation tracking in the presence of external disturbances are suggested respectively. Then, to determine the parameters of the designed protocol which satisfy suitable conditions, algorithms for H∞ and H2 time-varying formation tracking in the form of pseudo-code are presented, respectively. Furthermore, the proofs of the proposed theorems are derived by utilizing algebraic graph theory and Lyapunov analysis theory tools to demonstrate the closed-loop stability of the system in the presence of external disturbances. Finally, the usefulness and effectiveness of the approaches proposed are demonstrated by numerical simulation examples.

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Formation Tracking Control for Multi-Agent Networks with Fixed Time Convergence via Terminal Sliding Mode Control Approach

Cited by 12 publications

References 35 publications

Event-Triggered Sliding Mode Neural Network Controller Design for Heterogeneous Multi-Agent Systems

Event-Triggered Sliding Mode Neural Network Controller Design for Heterogeneous Multi-Agent Systems

Global Consensus of High-Order Discrete-Time Multi-Agent Systems with Communication Delay and Saturation Constraint

Distributed H∞ and H2 Time-Varying Formation Tracking Control for Linear Multi-Agent Systems with Directed Topologies

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