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基于终端滑模控制方法的具有固定时间收敛性的多智能体网络编队跟踪控制

Formation Tracking Control for Multi-Agent Networks with Fixed Time Convergence via Terminal Sliding Mode Control Approach.

作者信息

Xu Guang-Hui, Li Meng, Chen Jie, Lai Qiang, Zhao Xiao-Wen

机构信息

Hubei Key Laboratory for High-efficiency Utilization of Solar Energy and Operation Control of Energy Storage System, School of Electrical and Electronics Engineering, Hubei University of Technology, Wuhan 430068, China.

School of Science, Hubei University of Technology, Wuhan 430068, China.

出版信息

Sensors (Basel). 2021 Feb 18;21(4):1416. doi: 10.3390/s21041416.

DOI:10.3390/s21041416
PMID:33670543
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7922039/
Abstract

This paper investigates formation tracking control for multi-agent networks with fixed time convergence. The control task is that the follower agents are required to form a prescribed formation within a fixed time and the geometric center of the formation moves in sync with the leader. First, an error system is designed by using the information of adjacent agents and a new control protocol is designed based on the error system and terminal sliding mode control (TSMC). Then, via employing the Lyapunov stability theorem and the fixed time stability theorem, the control task is proved to be possible within a fixed time and the convergence time can be calculated by parameters. Finally, numerical results illustrate the feasibility of the proposed control protocol.

摘要

本文研究具有固定时间收敛性的多智能体网络的编队跟踪控制。控制任务是要求跟随智能体在固定时间内形成规定的编队，并且编队的几何中心与领导者同步移动。首先，利用相邻智能体的信息设计一个误差系统，并基于该误差系统和终端滑模控制（TSMC）设计一种新的控制协议。然后，通过运用李雅普诺夫稳定性定理和固定时间稳定性定理，证明控制任务在固定时间内是可行的，并且收敛时间可以通过参数计算得出。最后，数值结果说明了所提出控制协议的可行性。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/df9b/7922039/633952063f5a/sensors-21-01416-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/df9b/7922039/6351fda17dc3/sensors-21-01416-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/df9b/7922039/27a66956a554/sensors-21-01416-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/df9b/7922039/b2525f212e70/sensors-21-01416-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/df9b/7922039/b3905c0786e9/sensors-21-01416-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/df9b/7922039/5ba5fe466531/sensors-21-01416-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/df9b/7922039/92b478a3fc19/sensors-21-01416-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/df9b/7922039/633952063f5a/sensors-21-01416-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/df9b/7922039/6351fda17dc3/sensors-21-01416-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/df9b/7922039/27a66956a554/sensors-21-01416-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/df9b/7922039/b2525f212e70/sensors-21-01416-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/df9b/7922039/b3905c0786e9/sensors-21-01416-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/df9b/7922039/5ba5fe466531/sensors-21-01416-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/df9b/7922039/92b478a3fc19/sensors-21-01416-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/df9b/7922039/633952063f5a/sensors-21-01416-g007.jpg

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本文引用的文献

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Distributed Control of Nonlinear Multiagent Systems With Unknown and Nonidentical Control Directions via Event-Triggered Communication.基于事件触发通信的具有未知且非相同控制方向的非线性多智能体系统的分布式控制
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Distributed Output Feedback Leader-Following Control for High-Order Nonlinear Multiagent System Using Dynamic Gain Method.
基于动态增益方法的高阶非线性多智能体系统的分布式输出反馈领导-跟随控制。
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Fixed-Time Leader-Follower Output Feedback Consensus for Second-Order Multiagent Systems.二阶多智能体系统的固定时间领导者-跟随者输出反馈一致性。
IEEE Trans Cybern. 2019 Apr;49(4):1545-1550. doi: 10.1109/TCYB.2018.2794759. Epub 2018 Feb 8.
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Multi-formation control of nonlinear leader-following multi-agent systems.非线性领导者-跟随者多智能体系统的多编队控制
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