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

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 i...

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Bibliographic Details
Published in:IEEE transactions on automatic control Vol. 66; no. 10; pp. 4933 - 4938
Main Authors: Sarrafan, Neda, Zarei, Jafar
Format: Journal Article
Language:English
Published: New York IEEE 01.10.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Actuators
Algorithms
Bounded fast terminal sliding-mode control (TSMC)
consensus tracking
Control algorithms
Control theory
Convergence
finite-time distributed observer
Hyperbolic functions
Mobile robots
Multi-agent systems
multiagent nonholonomic chained-form systems
Multiagent systems
Observers
Protocols
Robust control
Saturation
Sliding mode control
Tracking control
Tracking loops
Tracking problem
Upper bound
Upper bounds
ISSN:0018-9286, 1558-2523
Online Access:Get full text
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Summary: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.
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ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2020.3048931