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Finite-Time Fractional-Order Control for Multiagent Formation System Based on Switching Function: Application to
IEEE Transactions on Cybernetics
|April 24, 2026
Summary
This study introduces a finite-time fractional-order (FTFO) control for multiagent systems, enabling rapid formation changes and error stabilization. The method ensures robust performance in uncrewed vehicle formations.
Area of Science:
- Control Systems Engineering
- Robotics
- Fractional Calculus
Background:
- Multiagent systems require sophisticated control for coordinated behavior.
- Achieving fast formation transitions and bounded errors is a significant challenge.
Purpose of the Study:
- To develop a finite-time fractional-order (FTFO) control strategy for multiagent formation systems.
- To enable fast switching and recovery of agent formations while limiting tracking errors.
Main Methods:
- Design of a smooth switching function for rapid formation adjustments.
- Utilization of a finite-time prescribed performance function (PPF) to bound tracking errors.
- Construction of an FTFO disturbance observer to mitigate external disturbances.
Main Results:
- The proposed FTFO control facilitates rapid transformation and recovery of agent formations.
- Tracking errors are effectively stabilized within a finite time.
- Experimental validation on Uncrewed Aerial Vehicle (UAV)/Uncrewed Ground Vehicle (UGV) formations confirms the algorithm's efficacy.
Conclusions:
- The FTFO control strategy offers a robust and efficient solution for multiagent formation control.
- The method ensures fast dynamic response and precise error bounds, crucial for autonomous systems.
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