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CLC number: TP24

On-line Access: 2022-10-24

Received: 2021-10-05

Revision Accepted: 2022-10-24

Crosschecked: 2022-03-06

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Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Weibin CHEN

https://orcid.org/0000-0001-5840-2019

Yangyang CHEN

https://orcid.org/0000-0003-0136-0174

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Frontiers of Information Technology & Electronic Engineering 

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Finite-time coordinated path-following control of leader-following multi-agent systems


Author(s):  Weibin CHEN, Yangyang CHEN, Ya ZHANG

Affiliation(s):  School of Automation, Southeast University, Nanjing 210096, China; more

Corresponding email(s):  jari_chris@163.com, yychen@seu.edu.cn

Key Words:  Finite-time; Coordinated path-following; Multi-agent systems; Barrier function


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Weibin CHEN, Yangyang CHEN, Ya ZHANG. Finite-time coordinated path-following control of leader-following multi-agent systems[J]. Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/FITEE.2100476

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Abstract: 
This paper presents applications of the continuous feedback method to achieve path-following and a formation moving along the desired orbits within a finite time. It is assumed that the topology for the virtual leader and followers is directed. An additional condition of the so-called barrier function is designed to make all agents move within a limited area. A novel continuous finite-time path-following control law is first designed based on the barrier function and backstepping. Then a novel continuous finite-time formation algorithm is designed by regarding the path-following errors as disturbances. The settling-time properties of the resulting system are studied in detail and simulations are presented to validate the proposed strategies.

领导-跟随者多智能体系统有限时间协同路径跟踪控制

陈卫彬1,3,陈杨杨1,2,张亚1,2
1东南大学自动化学院,中国南京市,210096
2东南大学复杂工程系统测量与控制教育部重点实验室,中国南京市,210096
3江苏自动化研究所机器人事业部,中国连云港市,222061
摘要:本文研究了连续反馈方法在有限时间内同时实现路径跟踪和沿期望轨道编队运动控制的应用。假设虚拟领导者和跟随者之间的拓扑结构是有方向的。设计了一种称为障碍函数的附件条件,使所有智能体在一个有限的区域内移动。首先,基于障碍函数和反步法,设计了一种新型的连续有限时间路径跟踪控制算法。然后,通过将路径跟踪误差视为扰动,设计了一种新型的连续有限时间编队控制算法。详细研究了所得系统的稳定时间特性,并对所提策略进行仿真验证。

关键词组:有限时间;协同路径跟踪;多智能体系统;障碍函数

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