Finite-time coordinated path-following control of leader-following multi-agent systems

Weibin CHEN; Yangyang CHEN; Ya ZHANG

doi:10.1631/FITEE.2100476

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Finite-time coordinated path-following control of leader-following multi-agent systems

Regular Papers | Updated：2022-10-28

- Finite-time coordinated path-following control of leader-following multi-agent systems
- 领导-跟随者多智能体系统有限时间协同路径跟踪控制
- Frontiers of Information Technology & Electronic Engineering Vol. 23, Issue 10, Pages: 1511-1521(2022)
- Affiliations：
  
  1.School of Automation, Southeast University, Nanjing 210096, China
  2.Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing 210096, China
  3.Robot Department, Jiangsu Automation Research Institute, Lianyungang 222061, China
- Author bio：
  
  †E-mail: jari_chris@163.com
  ‡Corresponding authors
- Funds：
- DOI：10.1631/FITEE.2100476
  CLC： TP24
- Received：05 October 2021，
  
  Revised：2022-05-04，
  
  Accepted：06 March 2022，
  
  Published Online：15 June 2022，
  
  Published：0 October 2022
- Accepted：
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Weibin CHEN, Yangyang CHEN, Ya ZHANG. Finite-time coordinated path-following control of leader-following multi-agent systems[J]. Frontiers of Information Technology & Electronic Engineering, 2022, 23(10): 1511-1521.
DOI：

Weibin CHEN, Yangyang CHEN, Ya ZHANG. Finite-time coordinated path-following control of leader-following multi-agent systems[J]. Frontiers of Information Technology & Electronic Engineering, 2022, 23(10): 1511-1521. DOI： 10.1631/FITEE.2100476.

摘要

本文研究了连续反馈方法在有限时间内同时实现路径跟踪和沿期望轨道编队运动控制的应用。假设虚拟领导者和跟随者之间的拓扑结构是有方向的。设计了一种称为障碍函数的附件条件，使所有智能体在一个有限的区域内移动。首先，基于障碍函数和反步法，设计了一种新型的连续有限时间路径跟踪控制算法。然后，通过将路径跟踪误差视为扰动，设计了一种新型的连续有限时间编队控制算法。详细研究了所得系统的稳定时间特性，并对所提策略进行仿真验证。

Abstract

This paper presents applications of the continuous feedback method to achieve path-following and a formation moving along the desired orbits within a finite time. It is assumed that the topology for the virtual leader and followers is directed. An additional condition of the so-called barrier function is designed to make all agents move within a limited area. A novel continuous finite-time path-following control law is first designed based on the barrier function and backstepping. Then a novel continuous finite-time formation algorithm is designed by regarding the path-following errors as disturbances. The settling-time properties of the resulting system are studied in detail and simulations are presented to validate the proposed strategies.

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references

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