Robust Finite-Time Consensus Tracking Algorithm for Multirobot Systems

被引：711

作者：

Khoo, Suiyang ^{[1
]}

Xie, Lihua ^{[2
]}

Man, Zhihong ^{[3
]}

机构：

[1] Deakin Univ, Sch Engn, Geelong, Vic 3217, Australia

[2] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 68000, Singapore

[3] Swinburne Univ Technol, Sch Mechatron, Hawthorn, Vic 3122, Australia

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2009年 / 14卷 / 02期

关键词：

Finite-time consensus; multiagent systems; multirobot systems; terminal sliding-mode (TSM) control; NETWORKS; LEADER; AGENTS; STABILITY; TOPOLOGY;

D O I：

10.1109/TMECH.2009.2014057

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：219 / 228

页数：10

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