Decentralized finite-time sliding mode estimators and their applications in decentralized finite-time formation tracking

被引：375

作者：

Cao, Yongcan ^{[1
]}

Ren, Wei ^{[1
]}

Meng, Ziyang ^{[1
]}

机构：

[1] Utah State Univ, Dept Elect & Comp Engn, Logan, UT 84322 USA

来源：

SYSTEMS & CONTROL LETTERS | 2010年 / 59卷 / 09期

基金：

美国国家科学基金会;

关键词：

Cooperative control; Distributed algorithms; Formation control; Coordination; Decentralized estimator; MULTIAGENT SYSTEMS; VEHICLE FORMATIONS; ASYNCHRONOUS CONSENSUS; COOPERATIVE CONTROL; SWITCHING TOPOLOGY; AUTONOMOUS AGENTS; RANDOM NETWORKS; VARYING DELAYS; LEADER; COMMUNICATION;

D O I：

10.1016/j.sysconle.2010.06.002

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a simple but efficient framework is proposed to achieve finite-time decentralized formation tracking of multiple autonomous vehicles with the introduction of decentralized sliding mode estimators. First, we propose and study both first-order and second-order decentralized sliding mode estimators. In particular, we show that the proposed first-order decentralized sliding mode estimator can guarantee accurate position estimation in finite time and the proposed second-order decentralized sliding mode estimator can guarantee accurate position and velocity estimation in finite time. Then the decentralized sliding mode estimators are employed to achieve decentralized formation tracking of multiple autonomous vehicles. In particular, it is shown that formation tracking can be achieved for systems with both single-integrator kinematics and double-integrator dynamics in finite time. By using the decentralized sliding mode estimators, many formation tracking/flying scenarios can be easily decoupled into two subtasks, that is, decentralized sliding mode estimation and vehicle desired state tracking, without imposing a stringent condition on the information flow. Finally, several simulation results are presented as a proof of concept. (C) 2010 Elsevier B.V. All rights reserved.

引用

页码：522 / 529

页数：8

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