Robust Finite-Time Consensus Tracking Algorithm for Multirobot Systems

作者：Suiyang Khoo, Lihua Xie, Zhihong Man · 发表于：IEEE/ASME Transactions on Mechatronics · 年份：2009 · DOI：10.1109/tmech.2009.2014057 · 被引用次数：835 · 研究领域：Distributed Control Multi-Agent Systems、Adaptive Control of Nonlinear Systems、Neural Networks Stability and Synchronization

This paper studies the finite-time consensus tracking control for multirobot systems. We prove that finite-time consensus tracking of multiagent systems can be achieved on the terminal sliding-mode surface. Also, we show that the proposed error function can be modified to achieve relative state deviation between agents. These results are then applied to the finite-time consensus tracking control of multirobot systems with input disturbances. Simulation results are presented to validate the analysis.