Department of Electrical Engineering, Indian Institute of Technology (BHU), Varanasi, India.
ISA Trans. 2019 Mar;86:1-8. doi: 10.1016/j.isatra.2018.10.041. Epub 2018 Nov 2.
This paper studies the formation of multiple mobile agents with double integrator dynamics and their target tracking. An algorithm consisting of an observer and a feedback control law of the nonsmooth type is proposed for the purpose of achieving finite-time formation and target tracking. The development is based on the Multi-input Multi-output (MIMO) super-twisting like approach aiming at finite time convergence without chattering. In addition to the formation; tracking, chattering prevention and robustness is also provided by the sliding mode mechanism which is demonstrated by simulations.
本文研究了具有双积分器动力学的多个移动代理的形成及其目标跟踪。为了实现有限时间形成和目标跟踪，提出了一种由观测器和非光滑反馈控制律组成的算法。该方法基于多输入多输出（MIMO）超扭曲类似方法，旨在实现无抖动的有限时间收敛。除了形成；跟踪，滑动模式机制还提供了防抖动和鲁棒性，通过仿真进行了验证。
