Robust Decentralized Formation Tracking Control of Complex Multiagent Systems

Abstract

This article investigates the decentralized formation tracking problem for complex multiagent systems in finite settling time, subjected to output constraints and external disturbances. The barrier Lyapunov function is used to constrain the output of each agent. Therefore, starting inside a closed boundary, the agents are guaranteed to remain inside it for all future time. Under directed communication topology, decentralized time-varying formation tracking is achieved in finite time. Furthermore, in the proposed work, the linear sliding manifold is employed to mitigate the singularity problem that occurs in the conventional robust finite-time methods, i.e., terminal sliding mode-based control schemes. The stability properties of the proposed framework are established through the Lyapunov method which not only ensures the finite-time formation tracking of nonlinear multiagent systems under directed communication but also guarantees that for all time the agents remain inside a closed boundary if they are initially inside it. Consequently, the uniqueness of this article is that it presents a novel formation tracking control framework for multiagent systems that simultaneously considers three performance metrics of robustness, finite-time convergence, and output constraints while mitigating the singularity problem. The proposed topology is validated by implementing the numerical examples in MATLAB/SIMULINK.