Robust finite-time connectivity preserving coordination of second-order multi-agent systems

In this paper, we consider robust finite-time connectivity preserving coordination problems for second-order multi-agent systems with limited sensing range. Based on integral sliding mode control and artificial potential field, a distributed controller is developed to achieve robust finite-time cons...

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Bibliographic Details
Main Authors: Sun, Chao, Hu, Guoqiang, Xie, Lihua, Egerstedt, Magnus
Other Authors: School of Electrical and Electronic Engineering
Format: Article
Language:English
Published: 2020
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Online Access:https://hdl.handle.net/10356/138761
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Institution: Nanyang Technological University
Language: English
Description
Summary:In this paper, we consider robust finite-time connectivity preserving coordination problems for second-order multi-agent systems with limited sensing range. Based on integral sliding mode control and artificial potential field, a distributed controller is developed to achieve robust finite-time consensus and meanwhile maintain the connectivity of the communication network. The method is further extended to address a finite-time formation tracking control problem. Numerical examples are given to show the effectiveness of the proposed methods.