Name
Title | ||
|---|---|---|
Fixed-Time Cooperative Behavioral Control for Networked Autonomous Agents With Second-Order Nonlinear Dynamics |
Abstract | ||
|---|---|---|
In this article, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve
<italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a desired formation</i>
with
<italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">collision/obstacle avoidance</i>
. In the proposed approach, the two behaviors(tasks) for each agent are prioritized and integrated via the framework of the null-space-based behavioral projection, leading to a desired merged velocity that guarantees the fixed-time convergence of task errors. To track this desired velocity, we design a fixed-time sliding-mode controller for each agent with state-independent adaptive gains, which provides a fixed-time convergence of the tracking error. The control scheme is implemented in a distributed manner, where each agent only acquires information from its neighbors in the network. Moreover, we adopt an online learning algorithm to improve the robustness of the closed system with respect to uncertainties/disturbances. Finally, simulation results are provided to show the effectiveness of the proposed approach. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1109/TCYB.2021.3057219 | IEEE Transactions on Cybernetics |
Keywords | DocType | Volume |
Algorithms,Behavior Control,Computer Simulation,Nonlinear Dynamics | Journal | 52 |
Issue | ISSN | Citations |
9 | 2168-2267 | 1 |
PageRank | References | Authors |
0.35 | 22 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ning Zhou | 1 | 11 | 9.39 |
| Xiaodong Cheng | 2 | 1 | 0.35 |
| Zhongqi Sun | 3 | 28 | 5.82 |
| Yuanqing Xia | 4 | 3132 | 232.57 |