Robust finite-time connectivity preserving coordination of second-order multi-agent systems

• Autores: Chao Sun, Guoquiang Hu, Lihua Xie, Magnus Egerstedt
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 89, 2018, págs. 21-27
• Idioma: inglés
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• Resumen

  • In this paper, we consider robust finite-time connectivity preserving coordination problems for second-order multi-agent systems with limited sensing range. Based on integral sliding mode control and artificial potential field, a distributed controller is developed to achieve robust finite-time consensus and meanwhile maintain the connectivity of the communication network. The method is further extended to address a finite-time formation tracking control problem. Numerical examples are given to show the effectiveness of the proposed methods.