Bounded Observer-Based Consensus Algorithm for Robust Finite-Time Tracking Control of Multiple Nonholonomic Chained-Form Systems

• 成果类型: Article
• 署名作者: Sarrafan, Neda; Zarei, Jafar
• 署名单位: Shiraz University of Technology; University of Windsor
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3048931
• 发表日期: 2021
• 页码: 4933-4938
• 关键词: Observers; CONVERGENCE; Multi-agent systems; Mobile robots; Upper bound; Protocols; Tracking loops; Bounded fast terminal sliding-mode control (TSMC); Consensus tracking; finite-time distributed observer; multiagent nonholonomic chained-form systems

摘要

This article is concerned with the leader-follower consensus tracking problem for multiagent systems with nonholonomic high-order chained-form dynamics subject to external disturbances. A novel distributed and bounded observer is first developed for each follower to estimate the leader information in a finite time. Then, a bounded fast terminal sliding-mode control protocol is constructed for each follower to track the estimated leader's states leading to the fast convergence performance as well as strong robustness. Contrary to some existing finite-time consensus tracking schemes, the control input constraint is taken into account by utilizing hyperbolic tangent saturation function to reduce the risk of the actuator saturation. Moreover, an approximation-based technique is introduced to reduce the conservatism of the upper bound of convergence time. Finally, some simulations for a set of wheeled mobile robots are carried out to demonstrate the efficiency of the proposed control algorithm.