Finite-time consensus problem for multiple non-holonomic mobile agents

Wang, Jiankui; Qiu, Zhihui; Zhang, Guoshan; Yang, Wei

doi:10.1109/wcica.2012.6358158

Cited by 9 publications

(6 citation statements)

References 17 publications

(22 reference statements)

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“…To improve the speed and the ability of disturbance rejection of formation control, recently, the finite‐time control technique has been employed to design finite‐time cooperative formation control algorithms for multiple mobile robots, by which the formation control (including formation pattern and trajectory) can be achieved in finite time. For multiple nonholonomic mobile robots, Ou et al and Wang et al proposed some finite‐time cooperative formation control algorithms. However, these results are only for nonholonomic mobile robots with low‐order models.…”

Section: Introductionmentioning

confidence: 99%

Robust finite‐time consensus formation control for multiple nonholonomic wheeled mobile robots via output feedback

Cheng

Jia

et al. 2017

Intl J Robust & Nonlinear

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Summary The finite‐time formation control for multiple nonholonomic wheeled mobile robots with a leader‐following structure is studied. Different from the existing results, the considered mobile robot has the following features: (i) a higher‐order dynamic model, (ii) the robot's velocities cannot be measured, and (iii) there are external disturbances. To solve the problem, a finite‐time consensus formation control algorithm via output feedback is explicitly given. At the first step, some finite‐time convergent observers are skillfully constructed to estimate both the unknown velocity information and the disturbance in finite time by imposing certain assumptions on the disturbances. Then, on the basis of the integral sliding‐mode control method, a disturbance observer‐based finite‐time output feedback controller is developed. Rigorous proof shows that the finite‐time formation can be achieved in finite time. An example is finally given to verify the efficiency of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Robust finite‐time consensus formation control for multiple nonholonomic wheeled mobile robots via output feedback

Cheng

Jia

et al. 2017

Intl J Robust & Nonlinear

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“…Apart from this advantage, finite-time control system has other good point: faster convergence, better robustness [1,9,15,24,33,30]. For the tracking control problem of nonholonomic mobile robot systems, some finite-time control laws have been proposed [12,23,25,31].…”

Section: Introductionmentioning

confidence: 99%

Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances

Ou¹,

Gu²,

Wang³

et al. 2016

Kybernetika

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“…The cooperative control of multiple nonholonomic agents was studied in [12] under different communication scenarios. The authors of [13] and [14] discussed the problem of finite-time consensus for nonholonomic mobile agents with and without communication delay, respectively. The finite time leaderfollowing consensus problem was designed in [15] for multiple nonholonomic mobile agents.…”

Section: Introductionmentioning

confidence: 99%

Discontinuous finite-time consensus algorithm for multiple nonholonomic systems with disturbances

Shi

2015

2015 34th Chinese Control Conference (CCC)

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A discontinuous finite-time consensus algorithm for multiple nonholonomic systems with disturbances is studied. The nonholonomic systems are transformed into two subsystems with disturbances. Firstly, two integral terminal sliding surface are designed. We will illustrate that, when the sliding surfaces reach zero, the state consensus is achieved in a finite time for the two subsystems respectively. Then, terminal sliding mode(TSM) control laws are designed to guarantee the finite-time reaching of two sliding surfaces. Next, a designed switching control strategy is proposed to guarantee the state consensus for the overall nonholonomic systems. Finally we demonstrate the effectiveness of our proposed controllers with simulation.

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Finite-time consensus problem for multiple non-holonomic mobile agents

Cited by 9 publications

References 17 publications

Robust finite‐time consensus formation control for multiple nonholonomic wheeled mobile robots via output feedback

Robust finite‐time consensus formation control for multiple nonholonomic wheeled mobile robots via output feedback

Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances

Discontinuous finite-time consensus algorithm for multiple nonholonomic systems with disturbances

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