Finite-Time Formation Control of Second-Order Linear Multi-Agent Systems with Relative State Constraints: A Barrier Function Sliding Mode Control Approach

2021 ◽  
pp. 1-1
Author(s):  
Jian Yang ◽  
Gang Cao ◽  
Weixing Chen ◽  
Weidong Zhang
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Barrier Function ◽  
Formation Control ◽  
State Constraints ◽  
Sliding Mode ◽  
Multi Agent Systems ◽  
Control Approach ◽  
Agent Systems ◽  
Multi Agent

Disturbance observer-based sliding mode control for multi-agent systems with mismatched uncertainties

2018 ◽  
Vol 38 (5) ◽  
pp. 606-614 ◽  
Author(s):  
Qing Wang ◽  
Changyin Sun ◽  
Xiaofeng Chai ◽  
Yao Yu
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Multi Agent Systems ◽  
Content Type ◽  
Agent Systems ◽  
Mode Control ◽  
Mismatched Uncertainties ◽  
Multi Agent

PurposeThis paper aims to develop sliding mode control (SMC) methods for second-order multi-agent systems (MAS) in the presence of mismatched uncertainties.Design/methodology/approachBased on the disturbance observer (DOB), discontinuous and continuous sliding mode protocols are designed to achieve finite-time consensus in spite of the disturbances.FindingsCompared with integral SMC, numerical simulation results show that the proposed control methods exhibit better performance with respect to reduction of chattering.Originality/valueThe main contributions are the following: MAS described with mismatched uncertainties are considered; both discontinuous and continuous sliding mode controllers are considered; with the proposed sliding mode controller, the desired sliding surface can be reached in finite time and the DOB is introduced in the controller to alleviate the chattering phenomenon.

Fuzzy Sliding Mode Control of Multi-Agent Systems Using Artificial Potentials

2010 ◽  
Author(s):  
F. Roshanghalb ◽  
J. Mortazavi ◽  
A. Alasty ◽  
H. Sayyaadi
Keyword(s):  
Formation Control ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Dimensional Space ◽  
Control Parameters ◽  
Multi Agent Systems ◽  
Control Approach ◽  
Agent Systems ◽  
Multi Agent ◽  
Fuzzy Control Strategy

In this paper a fuzzy control strategy of autonomous multi-agent systems is presented. The main purpose is to obtain an improvement on the results of designed sliding mode controllers in previous articles using supervisory fuzzy controller. Similarly, a quasi-static swarm model in n-dimensional space is introduced wherein the inter-individual interactions are based on artificial potential functions; and the motions of members are in direction with the negative gradient of the combined potentials which are the result of a balance between inter-individual interactions and the simultaneous interactions of the swarm members with their environment. Then a general model for vehicle dynamics of each agent has been studied. The aim is to reach the desirable formation of swarm by forcing agent’s motion to follow the quasi-static model. In literature a sliding mode controller is used to perform this task. In this work, same control structure is applied with a difference in control parameters. In this paper, fuzzy rules are introduced for some major control parameters which are efficacious on the results in order to get better performances along with less error during the formation control approach.

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