Journal
DOKLADY MATHEMATICS
Volume 87, Issue 1, Pages 133-136Publisher
MAIK NAUKA/INTERPERIODICA/SPRINGER
DOI: 10.1134/S106456241301033X
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The paper addresses the problem of row straightening of agents via local interactions. A nonlinear control protocol that ensures finite-time equidistant allocation on a segment is proposed. With the designed protocol, any settling time can be guaranteed regardless of the initial conditions. A robust modification of the control algorithm based on sliding mode control technique is presented. The case of multidimensional agents is also considered. The theoretical results are illustrated via numerical simulations.
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