Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 20, Issue 8, Pages 2534-2542Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-021-0438-9
Keywords
Disturbance observer; finite-time convergence; MAS; NTSM
Categories
Funding
- National Natural Science Foundation (NNSF) of China [62063027]
- Inner Mongolia Natural Science Foundation [2019MS06002]
- Science and Technology Project of Inner Mongolia Autonomous Region [2020GG0048]
- Ministry of Education Chunhui Plan Science Research Foundation
- Key Laboratory of Airborne Optical Imaging and Measurement of Chinese Academy of Sciences Open Foundation
Ask authors/readers for more resources
The study proposes a finite-time adaptive tracking control algorithm based on non-singular terminal sliding mode to address the consensus problem of second-order multi-agent systems with disturbance. By introducing a disturbance observer and designing an adaptive controller, the system's robustness is enhanced, response speed and tracking accuracy are improved, and the finite-time convergence of the method is proven using Lyapunov theory.
A finite-time adaptive tracking control algorithm based on non-singular terminal sliding mode (NTSM) is proposed to solve the consensus problem of second-order multi-agent system (MAS) with disturbance. Firstly, a finite-time disturbance observer based on NTSM is introduced to estimate and compensate the disturbance. Then, a NTSM adaptive controller is designed to enhance the robustness of the system, and improve the response speed and tracking accuracy. A proof of the finite-time convergence of the method is given by using Lyapunov theory. Finally, simulation experiments are carried out to demonstrate the effectiveness of the proposed method.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available
Share Paper
