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Fixed-Time Cooperative Behavioral Control for Networked Autonomous Agents with Second-Order Nonlinear Dynamics
- Publication Year :
- 2021
- Publisher :
- arXiv, 2021.
-
Abstract
- In this article, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle avoidance. In the proposed approach, the two behaviors(tasks) for each agent are prioritized and integrated via the framework of the null-space-based behavioral projection, leading to a desired merged velocity that guarantees the fixed-time convergence of task errors. To track this desired velocity, we design a fixed-time sliding-mode controller for each agent with state-independent adaptive gains, which provides a fixed-time convergence of the tracking error. The control scheme is implemented in a distributed manner, where each agent only acquires information from its neighbors in the network. Moreover, we adopt an online learning algorithm to improve the robustness of the closed system with respect to uncertainties/disturbances. Finally, simulation results are provided to show the effectiveness of the proposed approach.
- Subjects :
- Behavior Control
0209 industrial biotechnology
Computer science
Control (management)
Autonomous agent
02 engineering and technology
020901 industrial engineering & automation
Robustness (computer science)
Control theory
Obstacle avoidance
0202 electrical engineering, electronic engineering, information engineering
FOS: Mathematics
Computer Simulation
Electrical and Electronic Engineering
Projection (set theory)
Mathematics - Optimization and Control
Computer Science Applications
Human-Computer Interaction
Nonlinear system
Nonlinear Dynamics
Control and Systems Engineering
Optimization and Control (math.OC)
020201 artificial intelligence & image processing
Software
Algorithms
Information Systems
Subjects
Details
- Database :
- OpenAIRE
- Accession number :
- edsair.doi.dedup.....0501e77c2a1cadb12ba5bf3d09e1468e
- Full Text :
- https://doi.org/10.48550/arxiv.2103.06589