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Distributed Fixed-Time Formation Tracking Control for the Multi-Agent System and an Application in Wheeled Mobile Robots
- Source :
- Actuators, Vol 13, Iss 2, p 68 (2024)
- Publication Year :
- 2024
- Publisher :
- MDPI AG, 2024.
-
Abstract
- This work addresses the issue of multi-agent system (MAS) formation control under external disturbances and a directed communication topology. Firstly, a new disturbance observer is proposed to effectively reconstruct and compensate for external disturbances within a short period of time. Then, the integral terminal sliding mode technology is introduced to devise a novel distributed formation control protocol, ultimately realizing the stability of the MAS within a fixed time. Moreover, by means of rigorous Lyapunov theory analyses, a faster formation convergence rate and more accurate consensus accuracies are achieved in the proposed fixed-time strategy with variable exponent form. Finally, the formation tracking control scheme is applied to a multi-wheeled mobile robot (WMR) system. The experimental results strongly support the fine effectiveness of the control scheme designed in this work.
Details
- Language :
- English
- ISSN :
- 20760825
- Volume :
- 13
- Issue :
- 2
- Database :
- Directory of Open Access Journals
- Journal :
- Actuators
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.43ab3559bb9a41688590ebafde0b1bb6
- Document Type :
- article
- Full Text :
- https://doi.org/10.3390/act13020068