Distributed Fixed-Time Formation Tracking Control for the Multi-Agent System and an Application in Wheeled Mobile Robots
This work addresses the issue of multi-agent system (MAS) formation control under external disturbances and a directed communication topology. Firstly, a new disturbance observer is proposed to effectively reconstruct and compensate for external disturbances within a short period of time. Then, the...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-02-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/13/2/68 |
| _version_ | 1797299212831948800 |
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| author | Ling Ma Yufeng Gao Bo Li |
| author_facet | Ling Ma Yufeng Gao Bo Li |
| author_sort | Ling Ma |
| collection | DOAJ |
| description | This work addresses the issue of multi-agent system (MAS) formation control under external disturbances and a directed communication topology. Firstly, a new disturbance observer is proposed to effectively reconstruct and compensate for external disturbances within a short period of time. Then, the integral terminal sliding mode technology is introduced to devise a novel distributed formation control protocol, ultimately realizing the stability of the MAS within a fixed time. Moreover, by means of rigorous Lyapunov theory analyses, a faster formation convergence rate and more accurate consensus accuracies are achieved in the proposed fixed-time strategy with variable exponent form. Finally, the formation tracking control scheme is applied to a multi-wheeled mobile robot (WMR) system. The experimental results strongly support the fine effectiveness of the control scheme designed in this work. |
| first_indexed | 2024-03-07T22:47:27Z |
| format | Article |
| id | doaj.art-43ab3559bb9a41688590ebafde0b1bb6 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-07T22:47:27Z |
| publishDate | 2024-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-43ab3559bb9a41688590ebafde0b1bb62024-02-23T15:03:07ZengMDPI AGActuators2076-08252024-02-011326810.3390/act13020068Distributed Fixed-Time Formation Tracking Control for the Multi-Agent System and an Application in Wheeled Mobile RobotsLing Ma0Yufeng Gao1Bo Li2Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaBeijing Institute of Spacecraft System Engineering, Beijing 100194, ChinaInstitute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaThis work addresses the issue of multi-agent system (MAS) formation control under external disturbances and a directed communication topology. Firstly, a new disturbance observer is proposed to effectively reconstruct and compensate for external disturbances within a short period of time. Then, the integral terminal sliding mode technology is introduced to devise a novel distributed formation control protocol, ultimately realizing the stability of the MAS within a fixed time. Moreover, by means of rigorous Lyapunov theory analyses, a faster formation convergence rate and more accurate consensus accuracies are achieved in the proposed fixed-time strategy with variable exponent form. Finally, the formation tracking control scheme is applied to a multi-wheeled mobile robot (WMR) system. The experimental results strongly support the fine effectiveness of the control scheme designed in this work.https://www.mdpi.com/2076-0825/13/2/68multi-agent systemformation trackingdisturbance observermulti-wheeled mobile robot system |
| spellingShingle | Ling Ma Yufeng Gao Bo Li Distributed Fixed-Time Formation Tracking Control for the Multi-Agent System and an Application in Wheeled Mobile Robots Actuators multi-agent system formation tracking disturbance observer multi-wheeled mobile robot system |
| title | Distributed Fixed-Time Formation Tracking Control for the Multi-Agent System and an Application in Wheeled Mobile Robots |
| title_full | Distributed Fixed-Time Formation Tracking Control for the Multi-Agent System and an Application in Wheeled Mobile Robots |
| title_fullStr | Distributed Fixed-Time Formation Tracking Control for the Multi-Agent System and an Application in Wheeled Mobile Robots |
| title_full_unstemmed | Distributed Fixed-Time Formation Tracking Control for the Multi-Agent System and an Application in Wheeled Mobile Robots |
| title_short | Distributed Fixed-Time Formation Tracking Control for the Multi-Agent System and an Application in Wheeled Mobile Robots |
| title_sort | distributed fixed time formation tracking control for the multi agent system and an application in wheeled mobile robots |
| topic | multi-agent system formation tracking disturbance observer multi-wheeled mobile robot system |
| url | https://www.mdpi.com/2076-0825/13/2/68 |
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