Finite-time coordinated path-following control of leader-following multi-agent systems

Weibin CHEN; Yangyang CHEN; Ya ZHANG

doi:10.1631/FITEE.2100476

Front. Inform. Technol. Electron. Eng ›› 2022, Vol. 23 ›› Issue (10) : 1511 -1521. DOI: 10.1631/FITEE.2100476

Orginal Article

Finite-time coordinated path-following control of leader-following multi-agent systems

Weibin CHEN ¹^,³
, Yangyang CHEN ¹^,²^,^†
, Ya ZHANG ¹^,²

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Abstract

This paper presents applications of the continuous feedback method to achieve path-following and a formation moving along the desired orbits within a finite time. It is assumed that the topology for the virtual leader and followers is directed. An additional condition of the so-called barrier function is designed to make all agents move within a limited area. A novel continuous finite-time path-following control law is first designed based on the barrier function and backstepping. Then a novel continuous finite-time formation algorithm is designed by regarding the path-following errors as disturbances. The settling-time properties of the resulting system are studied in detail and simulations are presented to validate the proposed strategies.

Keywords

Finite-time / Coordinated path-following / Multi-agent systems / Barrier function

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Weibin CHEN, Yangyang CHEN, Ya ZHANG. Finite-time coordinated path-following control of leader-following multi-agent systems. Front. Inform. Technol. Electron. Eng, 2022, 23(10): 1511-1521 DOI:10.1631/FITEE.2100476