多智能体编队加权中心点固定时间分布式跟踪控制

doi:10.12305/j.issn.1001-506X.2024.12.25

Abstract

Abstract:

A sliding mode-based fixed time convergence control method is proposed for the target tracking problem of weighted centroid in multi-agent formation. Each agent only utilizes limited mutual information with its neighbors and achieves a fast and accurate estimation of the weighted centroid position of the entire formation through its own estimator. At the same time, a state dependent-based variable exponential coefficient sliding mode function control method is proposed, which utilizes the relative positions between multi-agent systems as formation constraints to solve the ambiguity problem of formation, and the designed sliding mode function does not have singular problems. Both the estimator and controller can ensure convergence within a fixed time, so the proposed control method can ensure that the weighted centroid of the formation can track the given reference trajectory within a fixed time, and the convergence time is independent of the initial state of the agent. Finally, the effectiveness of the proposed method is verified through simulation test.

Key words: multi-agent system, formation control, fixed-time convergence, centroid estimation, sliding-mode control, distributed control

CLC Number:

V249

Guhao SUN, Zhongze CAI, Qingshuang ZENG. Fixed-time distributed tracking and control of multi-agent formation weighted centroid[J]. Systems Engineering and Electronics, 2024, 46(12): 4165-4172.

Figures/Tables 5

References 30

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Fixed-time distributed tracking and control of multi-agent formation weighted centroid

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