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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