Abstract
This paper investigates the fixed-time formation (FixF) control problem for second-order multi-agent systems (MASs), where each agent is subject to disturbance and the communication network is general directed. First, a FixF protocol is presented based on the backstepping technique, where the distributed cooperative variable structure control method is utilized to handle the bounded disturbances. Then, to remove the dependence of control gains on the global information, a practical adaptive FixF control is presented, where the MASs can achieve formation with a bounded error within fixed time. Finally, a numerical example is presented to validate the theoretical result.
Highlights
IntroductionFormation control is one of the most actively investigated topics on the cooperation of multi-agent systems (MASs), such as multiple vehicle [1] and quadrotor aircraft [2]
Formation control is one of the most actively investigated topics on the cooperation of multi-agent systems (MASs), such as multiple vehicle [1] and quadrotor aircraft [2].Generally speaking, each agent is driven to satisfy predefined relative state constraints with respect to its neighbors in a formation control task.A key point in the study of the formation control problem is the convergence rate, which indicates how efficient a proposed control protocol could be
The formation control problems with finite-time convergence rate for linear and nonlinear first-order MASs were studied in [6,7] over undirected and directed graphs, respectively, while in [1,8], such problems were studied for multiple vehicles and multiple nonholonomic mobile robots, where the dynamics of the systems in [1,8] were second-order
Summary
Formation control is one of the most actively investigated topics on the cooperation of multi-agent systems (MASs), such as multiple vehicle [1] and quadrotor aircraft [2]. The formation control problems with finite-time convergence rate for linear and nonlinear first-order MASs were studied in [6,7] over undirected and directed graphs, respectively, while in [1,8], such problems were studied for multiple vehicles and multiple nonholonomic mobile robots, where the dynamics of the systems in [1,8] were second-order. Bearing the observation in mind, we will discover the FixF control problem for a kind of disturbed second-order MASs, where the communication graph is directed. To remove the dependence of control gains on the global information, a practical adaptive FixF control is presented, where the MASs can achieve formation with a bounded error within fixed time.
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