Back to Search
Start Over
Distributed fixed-time leader-following consensus tracking control for nonholonomic multi-agent systems with dynamic uncertainties
- Source :
- Neurocomputing. 430:112-120
- Publication Year :
- 2021
- Publisher :
- Elsevier BV, 2021.
-
Abstract
- The problem of distributed fixed-time leader-following consensus tracking control for nonholonomic chained-form dynamic systems with nonlinear disturbances is considered in this paper. Compared with the existing works, this paper considers a class of more general nonholonomic multi-agent systems where both the leader and the followers have nonlinear uncertainties. For undirected graphs, a distributed observer for each follower is investigated such that both the leader state and input can be estimated by the followers in a fixed time. Based on the distributed observers, a consensus tracking controller is proposed to ensure that the tracking errors convergence to zero within a fixed time. Lyapunov analysis proves the stability of the closed-loop system. A simulation example of wheeled mobile robots is given to demonstrate the effectiveness of the proposed controllers.
- Subjects :
- Lyapunov function
Nonholonomic system
0209 industrial biotechnology
Observer (quantum physics)
Computer science
Cognitive Neuroscience
Multi-agent system
Mobile robot
02 engineering and technology
Dynamical system
Computer Science Applications
Nonlinear system
symbols.namesake
020901 industrial engineering & automation
Artificial Intelligence
Control theory
0202 electrical engineering, electronic engineering, information engineering
symbols
020201 artificial intelligence & image processing
Subjects
Details
- ISSN :
- 09252312
- Volume :
- 430
- Database :
- OpenAIRE
- Journal :
- Neurocomputing
- Accession number :
- edsair.doi...........4ee772a2b415dd890dbbe52e365482bf