Journal
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS
Volume 67, Issue 12, Pages 5223-5232Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCSI.2020.2996312
Keywords
Convergence; Australia; Target tracking; Sliding mode control; Proposals; System dynamics; Indexes; Bipartite tracking; double-integrator networked systems; finite-time convergence; integral sliding mode
Categories
Funding
- Australian Research Council [DP170102303, DP190101557, DE180101268]
- Australian Research Council [DE180101268] Funding Source: Australian Research Council
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This paper is concerned with bipartite tracking for double-integrator networked systems with signed communication graphs, where both cooperative and antagonistic interactions coexist. A finite-time bipartite tracking framework is established, where followers track either the state or the opposite state of a leader. Different from some conventional results with convergence over an infinite time horizon, the finite-time convergence in this paper is achieved in an accurate manner. Under structurally balanced signed graphs, an integral sliding mode based finite-time bipartite tracking controller is proposed. The construction of an integral sliding mode variable is to ensure that the system dynamics is driven onto a sliding surface in finite-time. On the sliding surface, neighbouring states are used together with the homogeneous technique to guarantee that bipartite tracking is achieved in finite-time. To further realize fixed-time bipartite tracking, a controller is designed by using the integral sliding mode and the bi-limit homogeneous concept. Finally, numerical examples are provided to demonstrate the effectiveness of the proposed controllers.
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