Name
Title | ||
|---|---|---|
Distributed fixed-time leader-following consensus tracking control for nonholonomic multi-agent systems with dynamic uncertainties |
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. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1016/j.neucom.2020.10.094 | Neurocomputing |
Keywords | DocType | Volume |
Distributed consensus control,Fixed-time control,Chained-form systems,Multi-agent systems | Journal | 430 |
ISSN | Citations | PageRank |
0925-2312 | 0 | 0.34 |
References | Authors | |
0 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dengyu Liang | 1 | 2 | 2.04 |
| Chaoli Wang | 2 | 58 | 11.04 |
| Xuan Cai | 3 | 22 | 5.77 |
| Yu Li | 4 | 76 | 23.69 |
| Yujing Xu | 5 | 1 | 2.39 |