Finite-time consensus of multiple nonholonomic chained-form systems based on recursive distributed observer

• Haibo Du ^[1] ; Guanghui Wen ^[2] ; Xinghuo Yu ^[3] ; Shihua Li ^[2]
  1. [1] Hefei University of Technology

     Hefei University of Technology

     China

     
  2. [2] Southeast University

     Southeast University

     China

     
  3. [3] Royal Melbourne Institute of Technology University

     Royal Melbourne Institute of Technology University

     Australia

     

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• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 62, 2015, págs. 236-242
• Idioma: inglés
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• Resumen

  • The consensus tracking problem of multiple nonholonomic high-order chained-form systems is considered in this paper. A finite-time observer-based distributed control strategy is proposed. At the first step, a distributed finite-time convergent observer is proposed for each agent to estimate the leader’s state in a finite time. Then, a finite-time tracking controller is designed to track the estimated state and the leader’s attitude in a finite time. As an application of the proposed results, finite-time formation control of multiple wheeled mobile robots is studied and a finite-time formation control algorithm is proposed. To show effectiveness of the proposed approach, a simulation example is given.