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Frontiers of Information Technology & Electronic Engineering >> 2022, Volume 23, Issue 10 doi: 10.1631/FITEE.2100476
Finite-time coordinated path-following control of leader-following multi-agent systems
Affiliation(s): School of Automation, Southeast University, Nanjing 210096, China; Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing 210096, China; Robot Department, Jiangsu Automation Research Institute, Lianyungang 222061, China; less
Abstract
This paper presents applications of the continuous feedback method to achieve path-following and a formation moving along the desired orbits within a finite time. It is assumed that the topology for the virtual leader and followers is directed. An additional condition of the so-called is designed to make all agents move within a limited area. A novel continuous path-following control law is first designed based on the and backstepping. Then a novel continuous formation algorithm is designed by regarding the path-following errors as disturbances. The settling-time properties of the resulting system are studied in detail and simulations are presented to validate the proposed strategies.
Keywords
Finite-time ; Coordinated path-following ; Multi-agent systems ; Barrier function
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