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Neural-Adaptive Finite-Time Formation Tracking Control of Multiple Nonholonomic Agents With a Time-Varying Target

Authors :
Kai-Bo Zhou
Xiao-Kang Wu
Ming-Feng Ge
Chang-Duo Liang
Bing-Liang Hu
Source :
IEEE Access, Vol 8, Pp 62943-62953 (2020)
Publication Year :
2020
Publisher :
IEEE, 2020.

Abstract

This paper investigates the leader-following formation tracking problem (FTP) for multiple nonholonomic agent systems (MNASs) in the presence of external disturbances and parametric uncertainties, where both the kinematics and dynamics of the agents are taken into consideration. A novel finite-time distributed controller-estimator algorithm (DCEA) is designed to handle such a challenging problem. Based on Lyapunov stability method, the sufficient conditions for finite-time stability of the closed-loop system are derived. Finally, the simulation results are presented to demonstrate the effectiveness and the robustness of the proposed DCEA.

Details

Language :
English
ISSN :
21693536
Volume :
8
Database :
Directory of Open Access Journals
Journal :
IEEE Access
Publication Type :
Academic Journal
Accession number :
edsdoj.95494e66ec0f48e28ba3241de213c4cb
Document Type :
article
Full Text :
https://doi.org/10.1109/ACCESS.2020.2980894