Bounded Observer-Based Consensus Algorithm for Robust Finite-Time Tracking Control of Multiple Nonholonomic Chained-Form Systems
This article is concerned with the leader-follower consensus tracking problem for multiagent systems with nonholonomic high-order chained-form dynamics subject to external disturbances. A novel distributed and bounded observer is first developed for each follower to estimate the leader information i...
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| Veröffentlicht in: | IEEE transactions on automatic control 2021-10, Vol.66 (10), p.4933-4938 |
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| container_title | IEEE transactions on automatic control |
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| creator | Sarrafan, Neda Zarei, Jafar |
| description | This article is concerned with the leader-follower consensus tracking problem for multiagent systems with nonholonomic high-order chained-form dynamics subject to external disturbances. A novel distributed and bounded observer is first developed for each follower to estimate the leader information in a finite time. Then, a bounded fast terminal sliding-mode control protocol is constructed for each follower to track the estimated leader's states leading to the fast convergence performance as well as strong robustness. Contrary to some existing finite-time consensus tracking schemes, the control input constraint is taken into account by utilizing hyperbolic tangent saturation function to reduce the risk of the actuator saturation. Moreover, an approximation-based technique is introduced to reduce the conservatism of the upper bound of convergence time. Finally, some simulations for a set of wheeled mobile robots are carried out to demonstrate the efficiency of the proposed control algorithm. |
| doi_str_mv | 10.1109/TAC.2020.3048931 |
| format | Article |
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A novel distributed and bounded observer is first developed for each follower to estimate the leader information in a finite time. Then, a bounded fast terminal sliding-mode control protocol is constructed for each follower to track the estimated leader's states leading to the fast convergence performance as well as strong robustness. Contrary to some existing finite-time consensus tracking schemes, the control input constraint is taken into account by utilizing hyperbolic tangent saturation function to reduce the risk of the actuator saturation. Moreover, an approximation-based technique is introduced to reduce the conservatism of the upper bound of convergence time. 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A novel distributed and bounded observer is first developed for each follower to estimate the leader information in a finite time. Then, a bounded fast terminal sliding-mode control protocol is constructed for each follower to track the estimated leader's states leading to the fast convergence performance as well as strong robustness. Contrary to some existing finite-time consensus tracking schemes, the control input constraint is taken into account by utilizing hyperbolic tangent saturation function to reduce the risk of the actuator saturation. Moreover, an approximation-based technique is introduced to reduce the conservatism of the upper bound of convergence time. Finally, some simulations for a set of wheeled mobile robots are carried out to demonstrate the efficiency of the proposed control algorithm.</description><subject>Actuators</subject><subject>Algorithms</subject><subject>Bounded fast terminal sliding-mode control (TSMC)</subject><subject>consensus tracking</subject><subject>Control algorithms</subject><subject>Control theory</subject><subject>Convergence</subject><subject>finite-time distributed observer</subject><subject>Hyperbolic functions</subject><subject>Mobile robots</subject><subject>Multi-agent systems</subject><subject>multiagent nonholonomic chained-form systems</subject><subject>Multiagent systems</subject><subject>Observers</subject><subject>Protocols</subject><subject>Robust control</subject><subject>Saturation</subject><subject>Sliding mode control</subject><subject>Tracking control</subject><subject>Tracking loops</subject><subject>Tracking problem</subject><subject>Upper bound</subject><subject>Upper bounds</subject><issn>0018-9286</issn><issn>1558-2523</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2021</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kM1LAzEQxYMoWKt3wUvA89Z87UeO7WJVqBZ0PS_pbtKm7iY1yQq9-aeb0uJp5s28NwM_AG4xmmCM-EM1LScEETShiBWc4jMwwmlaJCQl9ByMEMJFwkmRXYIr77dRZozhEfid2cG0soXLlZfuR7pkJnyUpTVeGj94OO3W1umw6aGyDr7b1eADnGujg0wq3UtYOdF8abM-ZIKzHbQKvg5d0LtOwjdrNrazxva6geVGaCPbZG5dDz_2PsjeX4MLJTovb051DD7nj1X5nCyWTy_ldJE0hOOQUN5ilYusQFSwnCpCU8Rin-WC522rWpIjIhBqUsqLRqi0YVhhxkmccN60dAzuj3d3zn4P0od6awdn4suapHnKC5RxHF3o6Gqc9d5JVe-c7oXb1xjVB8515FwfONcnzjFyd4xoKeW_PW4YySn9A-Itefc</recordid><startdate>20211001</startdate><enddate>20211001</enddate><creator>Sarrafan, Neda</creator><creator>Zarei, Jafar</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><orcidid>https://orcid.org/0000-0002-6905-0757</orcidid><orcidid>https://orcid.org/0000-0002-0135-8173</orcidid></search><sort><creationdate>20211001</creationdate><title>Bounded Observer-Based Consensus Algorithm for Robust Finite-Time Tracking Control of Multiple Nonholonomic Chained-Form Systems</title><author>Sarrafan, Neda ; Zarei, Jafar</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c291t-39d1f7a6803a473f2350403a67a97ddfd2702a00c5398caf5c41f14920c599cd3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2021</creationdate><topic>Actuators</topic><topic>Algorithms</topic><topic>Bounded fast terminal sliding-mode control (TSMC)</topic><topic>consensus tracking</topic><topic>Control algorithms</topic><topic>Control theory</topic><topic>Convergence</topic><topic>finite-time distributed observer</topic><topic>Hyperbolic functions</topic><topic>Mobile robots</topic><topic>Multi-agent systems</topic><topic>multiagent nonholonomic chained-form systems</topic><topic>Multiagent systems</topic><topic>Observers</topic><topic>Protocols</topic><topic>Robust control</topic><topic>Saturation</topic><topic>Sliding mode control</topic><topic>Tracking control</topic><topic>Tracking loops</topic><topic>Tracking problem</topic><topic>Upper bound</topic><topic>Upper bounds</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Sarrafan, Neda</creatorcontrib><creatorcontrib>Zarei, Jafar</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>IEEE transactions on automatic control</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Sarrafan, Neda</au><au>Zarei, Jafar</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Bounded Observer-Based Consensus Algorithm for Robust Finite-Time Tracking Control of Multiple Nonholonomic Chained-Form Systems</atitle><jtitle>IEEE transactions on automatic control</jtitle><stitle>TAC</stitle><date>2021-10-01</date><risdate>2021</risdate><volume>66</volume><issue>10</issue><spage>4933</spage><epage>4938</epage><pages>4933-4938</pages><issn>0018-9286</issn><eissn>1558-2523</eissn><coden>IETAA9</coden><abstract>This article is concerned with the leader-follower consensus tracking problem for multiagent systems with nonholonomic high-order chained-form dynamics subject to external disturbances. A novel distributed and bounded observer is first developed for each follower to estimate the leader information in a finite time. Then, a bounded fast terminal sliding-mode control protocol is constructed for each follower to track the estimated leader's states leading to the fast convergence performance as well as strong robustness. Contrary to some existing finite-time consensus tracking schemes, the control input constraint is taken into account by utilizing hyperbolic tangent saturation function to reduce the risk of the actuator saturation. Moreover, an approximation-based technique is introduced to reduce the conservatism of the upper bound of convergence time. Finally, some simulations for a set of wheeled mobile robots are carried out to demonstrate the efficiency of the proposed control algorithm.</abstract><cop>New York</cop><pub>IEEE</pub><doi>10.1109/TAC.2020.3048931</doi><tpages>6</tpages><orcidid>https://orcid.org/0000-0002-6905-0757</orcidid><orcidid>https://orcid.org/0000-0002-0135-8173</orcidid></addata></record> |
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| subjects | Actuators Algorithms Bounded fast terminal sliding-mode control (TSMC) consensus tracking Control algorithms Control theory Convergence finite-time distributed observer Hyperbolic functions Mobile robots Multi-agent systems multiagent nonholonomic chained-form systems Multiagent systems Observers Protocols Robust control Saturation Sliding mode control Tracking control Tracking loops Tracking problem Upper bound Upper bounds |
| title | Bounded Observer-Based Consensus Algorithm for Robust Finite-Time Tracking Control of Multiple Nonholonomic Chained-Form Systems |
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