Finite-Time Formation Control of Second-Order Linear Multi-Agent Systems With Relative State Constraints: A Barrier Function Sliding Mode Control Approach
Jian Guo Yang, Gang Cao, Weixing Chen, Weidong Zhang
Abstract
The finite-time formation control of second-order linear multi-agent systems subject to constraints on both relative positions and relative velocities is studied in this brief. A novel barrier function-based sliding mode control (BFSMC) method, in which the relative state constraints are embedded through the barrier function, is proposed. The boundedness of sliding variable guarantees the satisfaction of the relative state constraints, and the convergence of the sliding variable to zero ensures that the formation will be reached in finite time. The singularity in controller is avoided. The effectiveness of the results is illustrated through a numerical example.
Topics & Concepts
Control theory (sociology)Sliding mode controlController (irrigation)Variable structure controlState variableConvergence (economics)Function (biology)Mode (computer interface)SingularityMathematicsState (computer science)Control (management)Nonlinear systemComputer scienceMathematical analysisPhysicsAlgorithmOperating systemEconomicsEconomic growthEvolutionary biologyQuantum mechanicsAgronomyThermodynamicsArtificial intelligenceBiologyDistributed Control Multi-Agent SystemsAdaptive Control of Nonlinear SystemsNeural Networks Stability and Synchronization