Event-triggered finite-time formation tracking of multi-agent systems with mismatched disturbances under switching topologies
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View abstract on PubMed
Summary
This summary is machine-generated.This study develops a robust control protocol for leader-follower multi-agent systems (MASs) with switching topologies and disturbances. The proposed method ensures finite-time (FT) formation tracking, enhancing system reliability and resource efficiency.
Area Of Science
- Control Theory
- Robotics
- Distributed Systems
Background
- Leader-follower multi-agent systems (MASs) face challenges with switching topologies and external disturbances.
- Existing control protocols require enhanced robustness to handle mismatched and matched disturbances in leader and follower dynamics.
- Accurate estimation of leader states is crucial for effective formation tracking in dynamic environments.
Purpose Of The Study
- To design a robust distributed observer for finite-time state estimation of the leader agent.
- To develop a finite-time (FT) formation tracking controller for MASs under switching topologies and disturbances.
- To improve the robustness and resource efficiency of MAS control systems.
Main Methods
- Design of an innovative distributed observer with robust terms for finite-time leader state estimation.
- A novel two-stage analysis scheme to prove finite-time convergence of estimation errors under switching topologies.
- Development of a FT controller with an event-triggered mechanism and multiple robust feedback terms to suppress disturbances.
Main Results
- The proposed observer achieves finite-time estimation of leader states despite unknown control inputs and disturbances.
- The novel analysis scheme guarantees finite-time convergence of estimation errors in the presence of switching topologies.
- The event-triggered FT controller effectively suppresses matched and mismatched disturbances, ensuring FT formation tracking with resource savings.
Conclusions
- The developed control strategy ensures robust finite-time formation tracking for MASs in perturbed environments with switching topologies.
- The event-triggered mechanism contributes to resource-efficient operation.
- Simulation results validate the effectiveness of the proposed distributed observer and FT control algorithm.
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