Robust Finite-Time Consensus Tracking Algorithm for Multirobot Systems

Robust Finite-Time Consensus Tracking Algorithm for Multirobot Systems

This paper studies the finite-time consensus tracking control for multirobot systems. We prove that finite-time consensus tracking of multiagent systems can be achieved on the terminal sliding-mode surface. Also, we show that the proposed error function can be modified to achieve relative state devi...

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Veröffentlicht in:IEEE/ASME transactions on mechatronics 2009-04, Vol.14 (2), p.219-228
Hauptverfasser: Suiyang Khoo, Suiyang Khoo, Lihua Xie, Lihua Xie, Zhihong Man, Zhihong Man
Format: Artikel
Sprache:eng
Schlagworte:
Algorithm design and analysis
Communication system control
Computer simulation
Control design
Control systems
Deviation
Disturbances
Error functions
Finite-time consensus
Multiagent systems
Multirobot systems
Multirobots
Network topology
Robust control
Robustness
Sliding mode control
terminal sliding-mode (TSM) control
Terminals
Tracking
Tracking control
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Beschreibung
Zusammenfassung:This paper studies the finite-time consensus tracking control for multirobot systems. We prove that finite-time consensus tracking of multiagent systems can be achieved on the terminal sliding-mode surface. Also, we show that the proposed error function can be modified to achieve relative state deviation between agents. These results are then applied to the finite-time consensus tracking control of multirobot systems with input disturbances. Simulation results are presented to validate the analysis.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2009.2014057