Coordination control of multiple euler-lagrange systems for escorting mission

Yuanqing Xia*, Jinhui Zhang, Kunfeng Lu, Ning Zhou

*此作品的通讯作者

科研成果: 书/报告/会议事项章节章节同行评审

1 引用 (Scopus)

摘要

In this chapter, a motion control problem of multi-agent systems for escorting a target is investigated by employing nonsingular fast terminal sliding mode control and adaptive control associated with kinematic control. The proposed control law is robust to model uncertainty and disturbances, and it guarantees all the agents to scatter around the target evenly and escort it with a fixed distance while avoiding obstacles (or collisions) in p-dimensional case (p > 2 is a positive integer). Finite-time convergence of the position errors and velocity errors is proved rigorously by a Lyapunov-based approach and finite-time control techniques. Simulation results in both two-dimensional and three-dimensional space are provided to illustrate the effectiveness and high-precision performance of the control algorithm compared with the traditional adaptive sliding mode control, showing that all the agents can move into suitable positions on the surface of the sphere in the escort mission, and the formation can be reconfigured automatically when the obstacle (or collision) avoidance task is active.

源语言英语
主期刊名Advances in Industrial Control
出版商Springer International Publishing
361-385
页数25
DOI
出版状态已出版 - 2019

出版系列

姓名Advances in Industrial Control
ISSN(印刷版)1430-9491
ISSN(电子版)2193-1577

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引用此

Xia, Y., Zhang, J., Lu, K., & Zhou, N. (2019). Coordination control of multiple euler-lagrange systems for escorting mission. 在 Advances in Industrial Control (页码 361-385). (Advances in Industrial Control). Springer International Publishing. https://doi.org/10.1007/978-981-13-1373-8_18