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

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...

Full description

Saved in:
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
Subjects:
Engineering::Electrical and electronic engineering
Multi-agent Systems
Connectivity Preservation
Online Access:https://hdl.handle.net/10356/138761
Tags: Add Tag
No Tags, Be the first to tag this record!
Institution: Nanyang Technological University
Language: English
id sg-ntu-dr.10356-138761
record_format dspace
spelling sg-ntu-dr.10356-1387612020-05-12T08:07:53Z Robust finite-time connectivity preserving coordination of second-order multi-agent systems Sun, Chao Hu, Guoqiang Xie, Lihua Egerstedt, Magnus School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Multi-agent Systems Connectivity Preservation 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. NRF (Natl Research Foundation, S’pore) EDB (Economic Devt. Board, S’pore) 2020-05-12T08:07:53Z 2020-05-12T08:07:53Z 2018 Journal Article Sun, C., Hu, G., Xie, L., & Egerstedt, M. (2018). Robust finite-time connectivity preserving coordination of second-order multi-agent systems. Automatica, 89, 21-27. doi:10.1016/j.automatica.2017.11.020 0005-1098 https://hdl.handle.net/10356/138761 10.1016/j.automatica.2017.11.020 2-s2.0-85038078242 89 21 27 en Automatica © 2017 Elsevier Ltd. All rights reserved.
institution Nanyang Technological University
building NTU Library
country Singapore
collection DR-NTU
language English
topic Engineering::Electrical and electronic engineering
Multi-agent Systems
Connectivity Preservation
spellingShingle Engineering::Electrical and electronic engineering
Multi-agent Systems
Connectivity Preservation
Sun, Chao
Hu, Guoqiang
Xie, Lihua
Egerstedt, Magnus
Robust finite-time connectivity preserving coordination of second-order multi-agent systems
description 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.
author2 School of Electrical and Electronic Engineering
author_facet School of Electrical and Electronic Engineering
Sun, Chao
Hu, Guoqiang
Xie, Lihua
Egerstedt, Magnus
format Article
author Sun, Chao
Hu, Guoqiang
Xie, Lihua
Egerstedt, Magnus
author_sort Sun, Chao
title Robust finite-time connectivity preserving coordination of second-order multi-agent systems
title_short Robust finite-time connectivity preserving coordination of second-order multi-agent systems
title_full Robust finite-time connectivity preserving coordination of second-order multi-agent systems
title_fullStr Robust finite-time connectivity preserving coordination of second-order multi-agent systems
title_full_unstemmed Robust finite-time connectivity preserving coordination of second-order multi-agent systems
title_sort robust finite-time connectivity preserving coordination of second-order multi-agent systems
publishDate 2020
url https://hdl.handle.net/10356/138761
_version_ 1681059013523931136

Similar Items