Robust Finite-Time Consensus Tracking Algorithm for Multirobot Systems

By S. Khoo, Lihua Xie, Zhihong Man. IEEE/ASME transactions on mechatronics, 2009

797 citations recorded by the source corpus.

This paper studies the finite-time consensus tracking control for multirobot systems. We prove that finite-time consensus tracking of multiagent systems can be achieved on the terminal sliding-mode surface. Also, we show that the proposed error function can be modified to achieve relative state deviation between agents. These results are then applied to the finite-time consensus tracking control of multirobot systems with input disturbances. Simulation results are presented to validate the analysis.

Subfields: Computer Networks and Communications, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/837d68a6df802027bc74866fef822b5660a81492

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Computer Networks and Communications

1. Qing-Long Han
2. Xiaohua Ge
3. Frank L. Lewis
4. Xianming Zhang
5. Guoqiang Hu
6. Boda Ning
7. Xinghuo Yu
8. Zongyu Zuo

In Control and Systems Engineering

1. Qing-Long Han
2. Frank L. Lewis
3. Zongyu Zuo
4. Xinghuo Yu
5. Xianming Zhang
6. Xiaohua Ge
7. Zhihong Man
8. Yong Feng

Citations in the corpus

• Terminal Sliding Mode Control – An Overview (2021, methodology): “In [156], a finite-time consensus tracking control for multi-robot systems was developed based on the TSMC technique and applied to the control of multi-robot systems with input disturbances.”
• Fixed-time stabilization and consensus of nonholonomic systems (2016, positive): “The finite-time consensus problem for MAS has been studied for single integrator [29, 30], double integrator [31, 32] and inherent Lipschitz nonlinear dynamics [33].”
• Nonsingular fixed-time consensus tracking for second-order multi-agent networks (2015, background): “Applying Theorem4 in Khoo et al. (2009), (8) follows, i.”
• Robust consensus tracking of a class of second-order multi-agent dynamic systems (2010, methodology): “Specifically, in [ 27 ], a sliding mode control algorithm is developed to guarantee the leader-follower multi-agent systems to reach consensus in a finite time.”
• Distributed Adaptive Tracking Control for Synchronization of Unknown Networked Lagrangian Systems (2011, background): “Since the dynamics of the systems are assumed to be unknown, the algorithm in [16] is not suitable for our case.”
• Novel Multiagent Based Load Restoration Algorithm for Microgrids (2011, background): “Recently, consensus algorithm has attracted great interests in various areas, such as random networks [15], multirobot system [16], collective behavior of flocks and swarm [17], etc.”
• Multi-agent differential graphical games (2011, background): “Cooperative team objectives may be prescribed in terms of the local neighborhood tracking error n i [15] as”
• An Overview of Recent Advances in Fixed-Time Cooperative Control of Multiagent Systems (2018, background): “direction for systems with complex dynamics [17], [52].”
• Optimal Design for Synchronization of Cooperative Systems: State Feedback, Observer and Output Feedback (2011, background): “LQR-Based Cooperative SVFB Control Definition 3: [21] For cooperative tracking problem, neighborhood synchronization error of node is defined as”
• Distributed adaptive control for synchronization of unknown nonlinear networked systems (2010, methodology): “Based on Remark 3, the next result is therefore obvious from (6) and the Cauchy Schwartz inequality (see also Khoo et al., 2009).”
• Robustness Analysis and Controller Synthesis of Homogeneous Vehicular Platoons With Bounded Parameter Uncertainty (2017, background): “The influence of external disturbance on multiagent consensus control was investigated by Lin et al. (2008) [28], Khoo et al. (2009) [29], and Hu (2012) [30].”