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Robust finite time cooperative control of second order agents:A Multi-input Multi-output higher order super-twisting
Shyam Kamal1, Ankit Sachan1, D Kranthi Kumar1
1Department of Electrical Engineering, Indian Institute of Technology (BHU), Varanasi, India.
Abstract:
This paper studies the formation of multiple mobile agents with double integrator dynamics and their target tracking. An algorithm consisting of an observer and a feedback control law of the nonsmooth type is proposed for the purpose of achieving finite-time formation and target tracking. The development is based on the Multi-input Multi-output (MIMO) super-twisting like approach aiming at finite time convergence without chattering. In addition to the formation; tracking, chattering prevention and robustness is also provided by the sliding mode mechanism which is demonstrated by simulations.
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