| Autor: |
Dmitry Malyshev, Anuj Nandanwar, Narendra Kumar Dhar, Larisa Rybak, Laxmidhar Behera |
| Rok vydání: |
2022 |
| Předmět: |
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| Zdroj: |
IEEE Transactions on Control of Network Systems. 9:966-978 |
| ISSN: |
2372-2533 |
| DOI: |
10.1109/tcns.2021.3089142 |
| Popis: |
This paper presents a novel stochastic event-based super-twisting controller design for addressing the formation control problem in networked multi-agent system in the presence of external disturbance. The stochasticity in the system is introduced by randomness of network uncertainties i.e. losses and delays of data packets. The proposed design has three parts. The first part derives event-triggering condition for control input updates of each agent in the system. The second part guarantees desired formation in finite time by deriving an upper bound on reaching time to the designed sliding surface of each agent. The third part ensures admissibility of event based control updates of the agents such that they achieve stable desired formation. The proposed stochastic design has been tested on Pioneer P3-DX mobile robots. The results show the threefold effectiveness of stochastic design. They are a) retaining the advantages of event-triggering strategy, b) retaining the advantages of super-twisting sliding mode controller, and c) robust towards network uncertainties. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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