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Fast finite-time time-varying formation tracking control of multi-agent systems with external disturbance and region constraints

Author

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  • Fenglan Sun
  • Zhonghua Xu
  • Wei Zhu
  • Jürgen Kurths

Abstract

In this paper, fast finite-time time-varying formation tracking control for second-order multi-agent systems with external disturbance and region constraints is investigated. The ubiquitous control input response delay is considered. A predictor-based state transformation is employed to obtain the ideal equivalent systems without control input response delay. Considering the difficulty of measuring external disturbance, a fast finite-time observer with the sliding mode technique is proposed to estimate the disturbance, which positively compensates the system. By adopting the sliding mode control strategy, a novel fast finite-time formation tracking controller is proposed. Sufficient conditions for the formation tracking control with region constraints are obtained. Numerical simulations are employed to validate the feasibility and effectiveness of the theoretical results.

Suggested Citation

  • Fenglan Sun & Zhonghua Xu & Wei Zhu & Jürgen Kurths, 2024. "Fast finite-time time-varying formation tracking control of multi-agent systems with external disturbance and region constraints," International Journal of Systems Science, Taylor & Francis Journals, vol. 55(11), pages 2373-2387, August.
    • Handle: RePEc:taf:tsysxx:v:55:y:2024:i:11:p:2373-2387
    DOI: 10.1080/00207721.2024.2344042
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