Signal generator based finite-time formation control for disturbed heterogeneous multi-agent systems |
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| Institution: | 1. School of Automation, Southeast University, Nanjing 210096, China;2. Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing 210096, China;1. Vehicle Engineering Institute, Chongqing University of Technology, Chongqing 40054, China;2. Key Laboratory of Advanced Manufacturing Technology for Automobile Parts of Ministry of Education, Chongqing University of Technology, Chongqing 400054, China;3. College of Automation, Chongqing University, Chongqing 40004, China;4. National Research Base of Intelligent Manufacturing Service, Chongqing Technology and Business University, Chongqing 400067, China;1. College of Mechatronics and Control Engineering, Hubei Normal University, Huangshi 435002, China;2. School of Information Science and Engineering, East China University of Science and Technology, Shanghai 200237, China;1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China;2. Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, China;3. Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology (Beijing Jiaotong University), Ministry of Education, China |
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| Abstract: | This paper investigates finite-time formation control problems of heterogeneous multi-agent systems subject to mismatched and matched disturbances. The studied agents are modelled with both different orders and dimensions. To achieve the desired finite-time formation control goal, a novel signal generator based finite-time formation control scheme is proposed, which is composed of two parts. In the first part, a distributed finite-time signal generator is established to produce formation references for the agents in finite time. In the second part, based on finite-time observer technique and homogeneous systems theory, a kind of composite anti-disturbance controllers are constructed for the agents to track the formation references in finite time. In this way, the studied multi-agent system completes the desired finite-time formation control task. Compared with the existing results, the proposed control scheme solves the disturbed finite-time formation control problems with both different agents’ orders and dimensions, simplifies the formation controller design by using a modular design philosophy, and makes the agents have a plug and play feature. A simulation example is shown to validate the effectiveness of the proposed control scheme. |
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