Finite-time consensus for nonholonomic multi-agent systems with disturbances via event-triggered integral sliding mode controller

被引：19

作者：

Wang, Jinhuan ^{[1
]}

Zhang, Yingwen ^{[1
]}

Li, Xiaodi ^{[2
]}

Zhao, Yongshun ^{[2
]}

机构：

[1] Hebei Univ Technol, Sch Sci, Hebei Prov Key Lab Big Data Calculat, Tianjin 300401, Peoples R China

[2] Shandong Normal Univ, Sch Math & Stat, Jinan 250014, Peoples R China

来源：

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | 2020年 / 357卷 / 12期

基金：

中国国家自然科学基金;

关键词：

TRACKING CONTROL; DISTRIBUTED CONSENSUS; MULTIROBOT SYSTEMS; SWITCHING TOPOLOGY; ROBUST CONSENSUS; DELAY; PARAMETERS; STABILITY; AGENTS;

D O I：

10.1016/j.jfranklin.2020.05.044

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates the finite-time consensus problem for nonholonomic multi-agent systems with unknown external disturbances. Firstly, the chained-form nonholonomic multi-agent systems are converted into two subsystems, one is first-order and another second-order. Then, the integral sliding mode-based finite-time event-triggered control laws are proposed to ensure that the states of the agents achieve consensus in finite time in spite of external disturbances. Furthermore, the inter-execution time is proved lower-bounded and the Zeno behavior is therefore naturally avoided. Finally, numerical sim-ulations demonstrate the effectiveness of the proposed protocols. (C) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

引用

页码：7779 / 7795

页数：17

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