Bounded Observer-Based Consensus Algorithm for Robust Finite-Time Tracking Control of Multiple Nonholonomic Chained-Form Systems

Autor:	Jafar Zarei, Neda Sarrafan
Rok vydání:	2021
Předmět:	Nonholonomic system Observer (quantum physics) Control and Systems Engineering Robustness (computer science) Computer science Control theory Bounded function Mobile robot Function (mathematics) Electrical and Electronic Engineering Upper and lower bounds Computer Science Applications
Zdroj:	IEEE Transactions on Automatic Control. 66:4933-4938
ISSN:	2334-3303 0018-9286
Popis:	This article is concerned with the leader–follower consensus tracking problem for multiagent systems with nonholonomic high-order chained-form dynamics subject to external disturbances. A novel distributed and bounded observer is first developed for each follower to estimate the leader information in a finite time. Then, a bounded fast terminal sliding-mode control protocol is constructed for each follower to track the estimated leader's states leading to the fast convergence performance as well as strong robustness. Contrary to some existing finite-time consensus tracking schemes, the control input constraint is taken into account by utilizing hyperbolic tangent saturation function to reduce the risk of the actuator saturation. Moreover, an approximation-based technique is introduced to reduce the conservatism of the upper bound of convergence time. Finally, some simulations for a set of wheeled mobile robots are carried out to demonstrate the efficiency of the proposed control algorithm.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::6dd7e85e5b3856538c0c2fcb65273ffc https://doi.org/10.1109/tac.2020.3048931 Zobrazit plný text záznamu