领导-跟随者多智能体系统有限时间协同路径跟踪控制

陈卫彬; 陈杨杨; 张亚

doi:10.1631/FITEE.2100476

Your Location：

Home >

Browse articles >

领导-跟随者多智能体系统有限时间协同路径跟踪控制

常规文章 | Updated：2022-10-28

- 领导-跟随者多智能体系统有限时间协同路径跟踪控制
- Finite-time coordinated path-following control of leader-following multi-agent systems
- 信息与电子工程前沿（英文） 2022年23卷第10期页码：1511-1521
- 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：
  
  National Natural Science Foundation of China(61973074;61973082);The online version of this article (https://doi.org/10.1631/FITEE.2100476) contains supplementary materials, which are available to authorized users
- DOI：10.1631/FITEE.2100476
  中图分类号： TP24
- 收稿：2021-10-05，
  
  修回：2022-05-04，
  
  录用：2022-03-06，
  
  网络出版：2022-06-15，
  
  纸质出版：2022-10-0
- Accepted：
Scan QR Code
陈卫彬, 陈杨杨, 张亚. 领导-跟随者多智能体系统有限时间协同路径跟踪控制[J]. 信息与电子工程前沿（英文）, 2022,23(10):1511-1521.

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.
陈卫彬, 陈杨杨, 张亚. 领导-跟随者多智能体系统有限时间协同路径跟踪控制[J]. 信息与电子工程前沿（英文）, 2022,23(10):1511-1521. DOI： 10.1631/FITEE.2100476.

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.

关键词

Keywords

references

AL Bertozzi , , M Kemp , , D Marthaler , . 2005 . . Determining environmental boundaries: asynchronous communication and physical scales . In: V Kumar , , N Leonard , , AS Morse (Eds.), . Cooperative Control . , Springer , , : Berlin , p. 25 - - 42 . . doi: 10.1007/978-3-540-31595-7_2 http://doi.org/10.1007/978-3-540-31595-7_2 .

SP Bhat , , DS Bernstein , . 2000 . . Finite-time stability of continuous autonomous systems . . SIAM J Contr Optim , , 38 ( ( 3 ): ): 751 - - 766 . . doi: 10.1137/S0363012997321358 http://doi.org/10.1137/S0363012997321358 .

YC Cao , , W Ren , . 2012 . . Distributed coordinated tracking with reduced interaction via a variable structure approach . . IEEE Trans Autom Contr , , 57 ( ( 1 ): ): 33 - - 48 . . doi: 10.1109/TAC.2011.2146830 http://doi.org/10.1109/TAC.2011.2146830 .

YC Cao , , W Ren , , Y Li , . 2009 . . Distributed discrete-time coordinated tracking with a time-varying reference state and limited communication . . Automatica , , 45 ( ( 5 ): ): 1299 - - 1305 . . doi: 10.1016/j.automatica.2009.01.018 http://doi.org/10.1016/j.automatica.2009.01.018 .

YC Cao , , W Ren , , ZY Meng , . 2010 . . Decentralized finite-time sliding mode estimators and their applications in decentralized finite-time formation tracking . . Syst Contr Lett , , 59 ( ( 9 ): ): 522 - - 529 . . doi: 10.1016/j.sysconle.2010.06.002 http://doi.org/10.1016/j.sysconle.2010.06.002 .

YY Chen , , YP Tian , . 2015 . . Formation tracking and attitude synchronization control of underactuated ships along closed orbits . . Int J Robust Nonl Contr , , 25 ( ( 16 ): ): 3023 - - 3044 . . doi: 10.1002/rnc.3246 http://doi.org/10.1002/rnc.3246 .

YY Chen , , KW Chen , , A Astolfi , . 2021a . . Adaptive formation tracking control of directed networked vehicles in a time-varying flowfield . . J Guid Contr Dyn , , 44 ( ( 10 ): ): 1883 - - 1891 . . doi: 10.2514/1.G005822 http://doi.org/10.2514/1.G005822 .

YY Chen , , KW Chen , , A Astolfi , . 2021b . . Adaptive formation tracking control for first-order agents in a time-varying flowfield . . IEEE Trans Autom Contr , , 67 ( ( 5 ): ): 2481 - - 2488 . . doi: 10.1109/TAC.2021.3074900 http://doi.org/10.1109/TAC.2021.3074900 .

LQ Dou , , C Yang , , DD Wang , , et al. , . 2019 . . Distributed finite-time formation control for multiple quadrotors via local communications . . Int J Robust Nonl Contr , , 29 ( ( 16 ): ): 5588 - - 5608 . . doi: 10.1002/rnc.4687 http://doi.org/10.1002/rnc.4687 .

HB Du , , SH Li , , XZ Lin , . 2013 . . Finite-time formation control of multiagent systems via dynamic output feedback . . Int J Robust Nonl Contr , , 23 ( ( 14 ): ): 1609 - - 1628 . . doi: 10.1002/rnc.2849 http://doi.org/10.1002/rnc.2849 .

HB Du , , GH Wen , , YY Cheng , , et al. , . 2017 . . Distributed finite-time cooperative control of multiple high-order nonholonomic mobile robots . . IEEE Trans Neur Netw Learn Syst , , 28 ( ( 12 ): ): 2998 - - 3006 . . doi: 10.1109/TNNLS.2016.2610140 http://doi.org/10.1109/TNNLS.2016.2610140 .

E Fiorelli , , NE Leonard , , P Bhatta , , et al. , . 2006 . . Multi-AUV control and adaptive sampling in Monterey bay . . IEEE J Oceanic Eng , , 31 ( ( 4 ): ): 935 - - 948 . . doi: 10.1109/JOE.2006.880429 http://doi.org/10.1109/JOE.2006.880429 .

R Ghabcheloo , . 2007 . . Coordinated Path Following of Multiple Autonomous Vehicles . PhD Dissertation, . Universidade de Lisbon , , : Lisboa, Portugal . .

ZH Guan , , FL Sun , , YW Wang , , et al. , . 2012 . . Finite-time consensus for leader-following second-order multi-agent networks . . IEEE Trans Circ Syst I Regul Pap , , 59 ( ( 11 ): ): 2646 - - 2654 . . doi: 10.1109/TCSI.2012.2190676 http://doi.org/10.1109/TCSI.2012.2190676 .

JS Huang , , CY Wen , , W Wang , , et al. , . 2015 . . Adaptive finite-time consensus control of a group of uncertain nonlinear mechanical systems . . Automatica , , 51 : 292 - - 301 . . doi: 10.1016/j.automatica.2014.10.093 http://doi.org/10.1016/j.automatica.2014.10.093 .

S Khoo , , LH Xie , , ZH Man , . 2009 . . Robust finite-time consensus tracking algorithm for multirobot systems . . IEEE/ASME Trans Mechatron , , 14 ( ( 2 ): ): 219 - - 228 . . doi: 10.1109/TMECH.2009.2014057 http://doi.org/10.1109/TMECH.2009.2014057 .

SH Li , , HB Du , , XZ Lin , . 2011 . . Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics . . Automatica , , 47 ( ( 8 ): ): 1706 - - 1712 . . doi: 10.1016/j.automatica.2011.02.045 http://doi.org/10.1016/j.automatica.2011.02.045 .

TS Li , , R Zhao , , CLP Chen , , et al. , . 2018 . . Finite-time formation control of under-actuated ships using nonlinear sliding mode control . . IEEE Trans Cybern , , 48 ( ( 11 ): ): 3243 - - 3253 . . doi: 10.1109/TCYB.2018.2794968 http://doi.org/10.1109/TCYB.2018.2794968 .

ZH Peng , , D Wang , , ZY Chen , , et al. , . 2013 . . Adaptive dynamic surface control for formations of autonomous surface vehicles with uncertain dynamics . . IEEE Trans Contr Syst Technol , , 21 ( ( 2 ): ): 513 - - 520 . . doi: 10.1109/TCST.2011.2181513 http://doi.org/10.1109/TCST.2011.2181513 .

CJ Qian , , W Lin , . 2001 . . A continuous feedback approach to global strong stabilization of nonlinear systems . . IEEE Trans Autom Contr , , 46 ( ( 7 ): ): 1061 - - 1079 . . doi: 10.1109/9.935058 http://doi.org/10.1109/9.935058 .

L Wang , , F Xiao , . 2010 . . Finite-time consensus problems for networks of dynamic agents . . IEEE Trans Autom Contr , , 55 ( ( 4 ): ): 950 - - 955 . . doi: 10.1109/TAC.2010.2041610 http://doi.org/10.1109/TAC.2010.2041610 .

N Wang , , H Li , . 2020 . . Leader-follower formation control of surface vehicles: a fixed-time control approach . . ISA Trans , , 124 ( ( 5 ): ): 356 - - 364 . . doi: 10.1016/j.isatra.2020.05.042 http://doi.org/10.1016/j.isatra.2020.05.042 .

F Xiao , , L Wang , , J Chen , , et al. , . 2009 . . Finite-time formation control for multi-agent systems . . Automatica , , 45 ( ( 11 ): ): 2605 - - 2611 . . doi: 10.1016/j.automatica.2009.07.012 http://doi.org/10.1016/j.automatica.2009.07.012 .

JL Yu , , XW Dong , , QD Li , , et al. , . 2018 . . Practical time-varying formation tracking for second-order nonlinear multiagent systems with multiple leaders using adaptive neural networks . . IEEE Trans Neur Netw Learn Syst , , 29 ( ( 12 ): ): 6015 - - 6025 . . doi: 10.1109/TNNLS.2018.2817880 http://doi.org/10.1109/TNNLS.2018.2817880 .

FM Zhang , , NE Leonard , . 2007 . . Coordinated patterns of unit speed particles on a closed curve . . Syst Contr Lett , , 56 ( ( 6 ): ): 397 - - 407 . . doi: 10.1016/j.sysconle.2006.10.027 http://doi.org/10.1016/j.sysconle.2006.10.027 .

FX Zhang , , YY Chen , . 2022 . . Finite-time tracking control for nonaffine nonlinear pure-feedback systems with a prescribed performance . . Int J Robust Nonl Contr , , 32 ( ( 4 ): ): 2212 - - 2232 . . doi: 10.1002/rnc.5941 http://doi.org/10.1002/rnc.5941 .

Y Zhang , , YP Tian , . 2009 . . Consentability and protocol design of multi-agent systems with stochastic switching topology . . Automatica , , 45 ( ( 5 ): ): 1195 - - 1201 . . doi: 10.1016/j.automatica.2008.11.005 http://doi.org/10.1016/j.automatica.2008.11.005 .

浏览量

110

Downloads

CSCD

文章被引用时，请邮件提醒。

Submit

工具集

关联资源

Finite-time leader-follower consensus of a discrete-time system via sliding mode control

Reinforcement learning based privacy-preserving consensus tracking control of nonstrict-feedback discrete-time multi-agent systems

Towards resilient average consensus in multi-agent systems: a detection and compensation approach

Event-triggered distributed optimization for model-free multi-agent systems

Bipartite asynchronous impulsive tracking consensus for multi-agent systems