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Journal of Zhejiang University SCIENCE C 1998 Vol.-1 No.-1 P.

http://doi.org/10.1631/FITEE.2100476


Finite-time coordinate dpath-following control of leader-following multi-agent systems


Author(s):  Weibin CHEN, Yangyang CHEN, Ya ZHANG

Affiliation(s):  School of Automation, Southeast University, Nanjing 210096, China; more

Corresponding email(s):   jari_chris@163.com, yychen@seu.edu.cn

Key Words:  Finite-time coordinated control, Multi-agent systems


Weibin CHEN, Yangyang CHEN, Ya ZHANG. Finite-time coordinate dpath-following control of leader-following multi-agent systems[J]. Frontiers of Information Technology & Electronic Engineering, 1998, -1(-1): .

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Abstract: 
This paper presents applications of the continuous feedback method to achieve both path-following and a formation moving along desired orbits at a finite time. It is assumed that the topology for the virtual leader and followers is directed. An additional condition of the so-called barrier function is designed to cause all agents to move within a limited area. A novel continuous finite-time path-following control law is first designed based on the barrier function and backstepping. Then a novel continuous finite-time formation algorithm is designed by regarding the path-following errors as disturbances. The settling-time properties of the resulting system are studied in detail and simulations are presented to validate the proposed strategies.

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