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Frontiers of Information Technology & Electronic Engineering
ISSN 2095-9184 (print), ISSN 2095-9230 (online)
2022 Vol.23 No.10 P.1511-1521
Finite-time coordinated path-following control of leader-following multi-agent systems
Abstract: 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.
Key words: Finite-time; Coordinated path-following; Multi-agent systems; Barrier function
1东南大学自动化学院，中国南京市，210096
2东南大学复杂工程系统测量与控制教育部重点实验室，中国南京市，210096
3江苏自动化研究所机器人事业部，中国连云港市，222061
摘要：本文研究了连续反馈方法在有限时间内同时实现路径跟踪和沿期望轨道编队运动控制的应用。假设虚拟领导者和跟随者之间的拓扑结构是有方向的。设计了一种称为障碍函数的附件条件，使所有智能体在一个有限的区域内移动。首先，基于障碍函数和反步法，设计了一种新型的连续有限时间路径跟踪控制算法。然后，通过将路径跟踪误差视为扰动，设计了一种新型的连续有限时间编队控制算法。详细研究了所得系统的稳定时间特性，并对所提策略进行仿真验证。
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DOI:
10.1631/FITEE.2100476
CLC number:
TP24
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On-line Access:
2022-10-24
Received:
2021-10-05
Revision Accepted:
2022-10-24
Crosschecked:
2022-03-06