Robust finite time cooperative control of second order agents:A Multi-input Multi-output higher order super-twisting based approach
| Autor: | Shyam Kamal, Kranthi Kumar Deveerasetty, Ankit Sachan, Devender Singh |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science Applied Mathematics Feedback control Multi-agent system 020208 electrical & electronic engineering MIMO 02 engineering and technology Computer Science Applications Double integrator 020901 industrial engineering & automation Control and Systems Engineering Robustness (computer science) Control theory Multi input 0202 electrical engineering electronic engineering information engineering Multi output Electrical and Electronic Engineering Finite time Instrumentation |
| Zdroj: | ISA Transactions. 86:1-8 |
| ISSN: | 0019-0578 |
| DOI: | 10.1016/j.isatra.2018.10.041 |
| Popis: | This paper studies the formation of multiple mobile agents with double integrator dynamics and their target tracking. An algorithm consisting of an observer and a feedback control law of the nonsmooth type is proposed for the purpose of achieving finite-time formation and target tracking. The development is based on the Multi-input Multi-output (MIMO) super-twisting like approach aiming at finite time convergence without chattering. In addition to the formation; tracking, chattering prevention and robustness is also provided by the sliding mode mechanism which is demonstrated by simulations. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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