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CLC number: TP24

On-line Access: 2022-10-24

Received: 2021-10-05

Revision Accepted: 2022-10-24

Crosschecked: 2022-03-06

Cited: 0

Clicked: 2035

Citations:  Bibtex RefMan EndNote GB/T7714


Weibin CHEN


Yangyang CHEN


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Frontiers of Information Technology & Electronic Engineering  2022 Vol.23 No.10 P.1511-1521


Finite-time coordinated path-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 path-following, Multi-agent systems, Barrier function

Weibin CHEN, Yangyang CHEN, Ya ZHANG. Finite-time coordinated path-following control of leader-following multi-agent systems[J]. Frontiers of Information Technology & Electronic Engineering, 2022, 23(10): 1511-1521.

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%T Finite-time coordinated path-following control of leader-following multi-agent systems
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%A Yangyang CHEN
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%DOI 10.1631/FITEE.2100476

T1 - Finite-time coordinated path-following control of leader-following multi-agent systems
A1 - Weibin CHEN
A1 - Yangyang CHEN
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%@ 2095-9184
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/FITEE.2100476

This paper presents applications of the continuous feedback method to achieve path-following and a formation moving along the desired orbits within 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 make all agents 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.




Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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