Fixed-Time Formation Tracking Control of Nonlinear Multi-Agent Systems with Directed Topology and Disturbance
In this paper, we study the fixed-time formation (FixF) control problem for the nonlinear second-order multi-agent systems (MASs) with directed graph, where all agents are subject to communication disturbances. To overcome the bounded disturbance of communication and to guarantee the realization of...
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| Format: | Article |
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MDPI AG
2023-06-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/11/13/2849 |
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| author | Zhiyong Luo Hongliang Liu Zigen Ouyang |
| author_facet | Zhiyong Luo Hongliang Liu Zigen Ouyang |
| author_sort | Zhiyong Luo |
| collection | DOAJ |
| description | In this paper, we study the fixed-time formation (FixF) control problem for the nonlinear second-order multi-agent systems (MASs) with directed graph, where all agents are subject to communication disturbances. To overcome the bounded disturbance of communication and to guarantee the realization of predesignated formation within a fixed-time, a suitable FixF control protocol based on the backstepping method is proposed. Furthermore, to eliminate the dependence of the control parameters on global information, a new adaptive FixF control protocol is provided to combine with some mild conditions of control gain such that the formation with acceptable bounded error of MASs can be achieved within a fixed-time. Finally, the theoretical results are verified by two simulation examples, one of the simulation examples is that we set the desired formation as a regular octagon and the desired formation motion trajectory as a circle, the results show that all agents can form formation motion within a fixed-time. |
| first_indexed | 2024-03-11T01:35:44Z |
| format | Article |
| id | doaj.art-fd6e79feb99741039ecdc8237d9b5c80 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-11T01:35:44Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-fd6e79feb99741039ecdc8237d9b5c802023-11-18T17:02:14ZengMDPI AGMathematics2227-73902023-06-011113284910.3390/math11132849Fixed-Time Formation Tracking Control of Nonlinear Multi-Agent Systems with Directed Topology and DisturbanceZhiyong Luo0Hongliang Liu1Zigen Ouyang2School of Mathematics and Physics, University of South China, Hengyang 421001, ChinaSchool of Mathematics and Physics, University of South China, Hengyang 421001, ChinaSchool of Mathematics and Physics, University of South China, Hengyang 421001, ChinaIn this paper, we study the fixed-time formation (FixF) control problem for the nonlinear second-order multi-agent systems (MASs) with directed graph, where all agents are subject to communication disturbances. To overcome the bounded disturbance of communication and to guarantee the realization of predesignated formation within a fixed-time, a suitable FixF control protocol based on the backstepping method is proposed. Furthermore, to eliminate the dependence of the control parameters on global information, a new adaptive FixF control protocol is provided to combine with some mild conditions of control gain such that the formation with acceptable bounded error of MASs can be achieved within a fixed-time. Finally, the theoretical results are verified by two simulation examples, one of the simulation examples is that we set the desired formation as a regular octagon and the desired formation motion trajectory as a circle, the results show that all agents can form formation motion within a fixed-time.https://www.mdpi.com/2227-7390/11/13/2849multi-agent systemsformation controlbackstepping methodadaptive control |
| spellingShingle | Zhiyong Luo Hongliang Liu Zigen Ouyang Fixed-Time Formation Tracking Control of Nonlinear Multi-Agent Systems with Directed Topology and Disturbance Mathematics multi-agent systems formation control backstepping method adaptive control |
| title | Fixed-Time Formation Tracking Control of Nonlinear Multi-Agent Systems with Directed Topology and Disturbance |
| title_full | Fixed-Time Formation Tracking Control of Nonlinear Multi-Agent Systems with Directed Topology and Disturbance |
| title_fullStr | Fixed-Time Formation Tracking Control of Nonlinear Multi-Agent Systems with Directed Topology and Disturbance |
| title_full_unstemmed | Fixed-Time Formation Tracking Control of Nonlinear Multi-Agent Systems with Directed Topology and Disturbance |
| title_short | Fixed-Time Formation Tracking Control of Nonlinear Multi-Agent Systems with Directed Topology and Disturbance |
| title_sort | fixed time formation tracking control of nonlinear multi agent systems with directed topology and disturbance |
| topic | multi-agent systems formation control backstepping method adaptive control |
| url | https://www.mdpi.com/2227-7390/11/13/2849 |
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