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Finite-Time Consensus Algorithm for Multiple Nonholonomic Disturbed Systems with Its Application.
- Source :
-
Mathematical Problems in Engineering . 5/24/2015, Vol. 2015, p1-10. 10p. - Publication Year :
- 2015
-
Abstract
- This paper deals with the problem of finite-time consensus of multiple nonholonomic disturbed systems. To accomplish this problem, the multiple nonholonomic systems are transformed into two multiple subsystems, and these two multiple subsystems are studied, respectively. For these two multiple subsystems, the terminal sliding mode (TSM) algorithms are designed, respectively, which achieve the finite-time reaching of sliding surface. Next, a switching control strategy is proposed to guarantee the finite-time consensus of all the states for multiple nonholonomic systems with disturbances. Finally, we demonstrate the effectiveness of the proposed consensus algorithms with application to multiple nonholonomic mobile robots. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 1024123X
- Volume :
- 2015
- Database :
- Academic Search Index
- Journal :
- Mathematical Problems in Engineering
- Publication Type :
- Academic Journal
- Accession number :
- 109250491
- Full Text :
- https://doi.org/10.1155/2015/358161