Formation Tracking Control for Multi-Agent Networks with Fixed Time Convergence via Terminal Sliding Mode Control Approach

Formation Tracking Control for Multi-Agent Networks with Fixed Time Convergence via Terminal Sliding Mode Control Approach

This paper investigates formation tracking control for multi-agent networks with fixed time convergence. The control task is that the follower agents are required to form a prescribed formation within a fixed time and the geometric center of the formation moves in sync with the leader. First, an err...

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Main Authors: Guang-Hui Xu, Meng Li, Jie Chen, Qiang Lai, Xiao-Wen Zhao
Format: Article
Language:English
Published: MDPI AG 2021-02-01
Series:Sensors
Subjects:
multi-agent networks
fixed time convergence
formation tracking control
sliding mode control
Online Access:https://www.mdpi.com/1424-8220/21/4/1416
id doaj-f1700a6bc9df41d3b7725fc3f0a4f9ff
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spelling doaj-f1700a6bc9df41d3b7725fc3f0a4f9ff2021-02-19T00:01:48ZengMDPI AGSensors1424-82202021-02-01211416141610.3390/s21041416Formation Tracking Control for Multi-Agent Networks with Fixed Time Convergence via Terminal Sliding Mode Control ApproachGuang-Hui Xu0Meng Li1Jie Chen2Qiang Lai3Xiao-Wen Zhao4Hubei Key Laboratory for High-Efficiency Utilization of Solar Energy and Operation Control of Energy Storage System, School of Electrical and Electronics Engineering, Hubei University of Technology, Wuhan 430068, ChinaHubei Key Laboratory for High-Efficiency Utilization of Solar Energy and Operation Control of Energy Storage System, School of Electrical and Electronics Engineering, Hubei University of Technology, Wuhan 430068, ChinaSchool of Science, Hubei University of Technology, Wuhan 430068, ChinaSchool of Electrical and Automation Engineering, East China Jiaotong University, Nanchang 330013, ChinaSchool of Mathematics, Hefei University of Technology, Hefei 230009, ChinaThis paper investigates formation tracking control for multi-agent networks with fixed time convergence. The control task is that the follower agents are required to form a prescribed formation within a fixed time and the geometric center of the formation moves in sync with the leader. First, an error system is designed by using the information of adjacent agents and a new control protocol is designed based on the error system and terminal sliding mode control (TSMC). Then, via employing the Lyapunov stability theorem and the fixed time stability theorem, the control task is proved to be possible within a fixed time and the convergence time can be calculated by parameters. Finally, numerical results illustrate the feasibility of the proposed control protocol.https://www.mdpi.com/1424-8220/21/4/1416multi-agent networksfixed time convergenceformation tracking controlsliding mode control
collection DOAJ
language English
format Article
sources DOAJ
author Guang-Hui Xu
Meng Li
Jie Chen
Qiang Lai
Xiao-Wen Zhao
spellingShingle Guang-Hui Xu
Meng Li
Jie Chen
Qiang Lai
Xiao-Wen Zhao
Formation Tracking Control for Multi-Agent Networks with Fixed Time Convergence via Terminal Sliding Mode Control Approach
Sensors
multi-agent networks
fixed time convergence
formation tracking control
sliding mode control
author_facet Guang-Hui Xu
Meng Li
Jie Chen
Qiang Lai
Xiao-Wen Zhao
author_sort Guang-Hui Xu
title Formation Tracking Control for Multi-Agent Networks with Fixed Time Convergence via Terminal Sliding Mode Control Approach
title_short Formation Tracking Control for Multi-Agent Networks with Fixed Time Convergence via Terminal Sliding Mode Control Approach
title_full Formation Tracking Control for Multi-Agent Networks with Fixed Time Convergence via Terminal Sliding Mode Control Approach
title_fullStr Formation Tracking Control for Multi-Agent Networks with Fixed Time Convergence via Terminal Sliding Mode Control Approach
title_full_unstemmed Formation Tracking Control for Multi-Agent Networks with Fixed Time Convergence via Terminal Sliding Mode Control Approach
title_sort formation tracking control for multi-agent networks with fixed time convergence via terminal sliding mode control approach
publisher MDPI AG
series Sensors
issn 1424-8220
publishDate 2021-02-01
description This paper investigates formation tracking control for multi-agent networks with fixed time convergence. The control task is that the follower agents are required to form a prescribed formation within a fixed time and the geometric center of the formation moves in sync with the leader. First, an error system is designed by using the information of adjacent agents and a new control protocol is designed based on the error system and terminal sliding mode control (TSMC). Then, via employing the Lyapunov stability theorem and the fixed time stability theorem, the control task is proved to be possible within a fixed time and the convergence time can be calculated by parameters. Finally, numerical results illustrate the feasibility of the proposed control protocol.
topic multi-agent networks
fixed time convergence
formation tracking control
sliding mode control
url https://www.mdpi.com/1424-8220/21/4/1416
work_keys_str_mv AT guanghuixu formationtrackingcontrolformultiagentnetworkswithfixedtimeconvergenceviaterminalslidingmodecontrolapproach
AT mengli formationtrackingcontrolformultiagentnetworkswithfixedtimeconvergenceviaterminalslidingmodecontrolapproach
AT jiechen formationtrackingcontrolformultiagentnetworkswithfixedtimeconvergenceviaterminalslidingmodecontrolapproach
AT qianglai formationtrackingcontrolformultiagentnetworkswithfixedtimeconvergenceviaterminalslidingmodecontrolapproach
AT xiaowenzhao formationtrackingcontrolformultiagentnetworkswithfixedtimeconvergenceviaterminalslidingmodecontrolapproach
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