Finite-Time Robust Admissible Consensus Control of Multirobot System Under Dynamic Events
Anuj Nandanwar, Narendra Kumar Dhar, Dmitry Malyshev, Larisa Rybak, Laxmidhar Behera
Abstract
This article addresses the problem of event-based consensus in a leader–follower multiagent system framework prone to external bounded disturbance. The proposed approach has three parts. The first part defines a novel measurement error based on sliding surface for super-twisting sliding-mode controller. The Lyapunov stability analysis is then used to derive a dynamic event-triggering condition for control updates. The event-based control updates guarantee stability along with the desired consensus amongst agents (robots). The second part derives a bound on reaching time to the sliding surface, thereby guaranteeing finite-time consensus control for each agent. The third part guarantees the admissibility of event-based control updates for each agent. The robustness of the proposed approach is validated through simulation and real-time experiments using three Pioneer P3-DX mobile robots in a multiagent framework. The real-time experimental results prove the reduction in computational burden of the entire system as control updates for two followers are found to be approximately <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\text{28.33}\%$</tex-math></inline-formula> and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\text{23.33}\%$</tex-math></inline-formula> , respectively, in the presence of disturbances.