Abstract
In this paper, the problem of practical finite-time coordinated path following control of a multi-agent system in an uncertain Euler flow field is studied. The coordinated path following control system is decoupled into a path following sub-system and a coordinated formation sub-system. The uncertain Euler flow field is estimated by constructing an extended state observer. By embedding the extended state observer into the design of the finite-time controllers for both sub-systems, practical finite-time stability of the coordinated path following control system is proved. Simulation results are provided for validating the feasibility and effectiveness of the control method.
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