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Robust finite-time consensus tracking algorithm for multirobot systems

journal contribution
posted on 2009-04-01, 00:00 authored by Sui Yang KhooSui Yang Khoo, L Xie, Z Man
This paper studies the finite-time consensus tracking control for multirobot systems. We prove that finite-time consensus tracking of multiagent systems can be achieved on the terminal sliding-mode surface. Also, we show that the proposed error function can be modified to achieve relative state deviation between agents. These results are then applied to the finite-time consensus tracking control of multirobot systems with input disturbances. Simulation results are presented to validate the analysis.

History

Journal

IEEE/ASME transactions on mechatronics

Volume

14

Issue

2

Pagination

219 - 228

Publisher

IEEE Xplore

Location

Piscataway, N.J.

ISSN

1083-4435

eISSN

1941-014X

Language

eng

Publication classification

C1 Refereed article in a scholarly journal

Copyright notice

2009, IEEE