Predefined-Time Leader-Following Formation Control of Nonlinear Multiagent Systems under Switching Topologies

The paper proposes a predefined-time leader-following formation control scheme for nonlinear multi-agent systems with external perturbations under switching topologies. Unlike previous work on predefined-time containment control, we aim to create an isosceles triangle shaped formation instead of bei...

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Bibliographic Details
Published in:IFAC-PapersOnLine 2023-01, Vol.56 (2), p.8815-8820
Main Authors: Soni, Sandeep Kumar, Soni, Garima, Wang, Siyuan, Boutat, Driss, Djemai, Mohamed, Olaru, Sorin, Geha, Daniel
Format: Article
Language:English
Subjects:
formation control
leader-follower systems
Predefined-time stability
switching topologies
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Summary:The paper proposes a predefined-time leader-following formation control scheme for nonlinear multi-agent systems with external perturbations under switching topologies. Unlike previous work on predefined-time containment control, we aim to create an isosceles triangle shaped formation instead of being covered by a generic convex hull by having followers follow the leader's trajectories. To ensure convergence along the sliding surface within a predefined-time, we present a nonlinear sliding surface. A terminal sliding mode controller is then used to obtain the desired formation within a predefined-time. The convergence time is independent of both initial values and control parameters. Using, common Lyapunov function, predefined-time stability of closed-loop system is investigated. Simulation examples demonstrate that the developed control protocol is feasible and robust.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2023.10.069