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Finite-time coordinate dpath-following control of leader-following multi-agent systems
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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): .
@article{title="Finite-time coordinate dpath-following control of leader-following multi-agent systems",
author="Weibin CHEN, Yangyang CHEN, Ya ZHANG",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="-1",
number="-1",
pages="",
year="1998",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.2100476"
}
%0 Journal Article
%T Finite-time coordinate dpath-following control of leader-following multi-agent systems
%A Weibin CHEN
%A Yangyang CHEN
%A Ya ZHANG
%J Journal of Zhejiang University SCIENCE C
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%@ 2095-9184
%D 1998
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.2100476
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T1 - Finite-time coordinate dpath-following control of leader-following multi-agent systems
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A1 - Yangyang CHEN
A1 - Ya ZHANG
J0 - Journal of Zhejiang University Science C
VL - -1
IS - -1
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EP -
%@ 2095-9184
Y1 - 1998
PB - Zhejiang University Press & Springer
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DOI - 10.1631/FITEE.2100476
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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