Finite-time consensus of multiple nonholonomic chained-form systems based on recursive distributed observer
Finite-time consensus of multiple nonholonomic chained-form systems based on recursive distributed observer
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DOI：
10.1016/j.automatica.2015.09.026
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发表时间：
2015-12
期刊：
影响因子：
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通讯作者：
Haibo Du;G. Wen;Xinghuo Yu;Shihua Li;Michael Z. Q. Chen
中科院分区：
文献类型：
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作者：
Haibo Du;G. Wen;Xinghuo Yu;Shihua Li;Michael Z. Q. Chen
本文考虑了多个非完整高阶链式系统的共识跟踪问题。提出了一种基于有限时间观测器的分布式控制策略。第一步，为每个智能体提出一个分布式有限时间收敛观察器，以估计有限时间内领导者的状态。然后，设计有限时间跟踪控制器来在有限时间内跟踪估计状态和领导者的态度。作为该成果的应用，对多轮移动机器人的有限时间编队控制进行了研究，提出了一种有限时间编队控制算法。为了显示所提出方法的有效性，给出了一个仿真示例。
The consensus tracking problem of multiple nonholonomic high-order chained-form systems is considered in this paper. A finite-time observer-based distributed control strategy is proposed. At the first step, a distributed finite-time convergent observer is proposed for each agent to estimate the leader’s state in a finite time. Then, a finite-time tracking controller is designed to track the estimated state and the leader’s attitude in a finite time. As an application of the proposed results, finite-time formation control of multiple wheeled mobile robots is studied and a finite-time formation control algorithm is proposed. To show effectiveness of the proposed approach, a simulation example is given.