Decentralized finite-time sliding mode estimators and their applications in decentralized finite-time formation tracking

In this paper, a simple but efficient framework is proposed to achieve finite-time decentralized formation tracking of multiple autonomous vehicles with the introduction of decentralized sliding mode estimators. First, we propose and study both first-order and second-order decentralized sliding mode...

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Bibliographic Details
Published in:Systems & control letters 2010-09, Vol.59 (9), p.522-529
Main Authors: Cao, Yongcan, Ren, Wei, Meng, Ziyang
Format: Article
Language:English
Subjects:
Adaptative systems
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Cooperative control
Coordination
Decentralized estimator
Distributed algorithms
Exact sciences and technology
Formation control
Modelling and identification
Robotics
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Summary:In this paper, a simple but efficient framework is proposed to achieve finite-time decentralized formation tracking of multiple autonomous vehicles with the introduction of decentralized sliding mode estimators. First, we propose and study both first-order and second-order decentralized sliding mode estimators. In particular, we show that the proposed first-order decentralized sliding mode estimator can guarantee accurate position estimation in finite time and the proposed second-order decentralized sliding mode estimator can guarantee accurate position and velocity estimation in finite time. Then the decentralized sliding mode estimators are employed to achieve decentralized formation tracking of multiple autonomous vehicles. In particular, it is shown that formation tracking can be achieved for systems with both single-integrator kinematics and double-integrator dynamics in finite time. By using the decentralized sliding mode estimators, many formation tracking/flying scenarios can be easily decoupled into two subtasks, that is, decentralized sliding mode estimation and vehicle desired state tracking, without imposing a stringent condition on the information flow. Finally, several simulation results are presented as a proof of concept.
ISSN:0167-6911
1872-7956
DOI:10.1016/j.sysconle.2010.06.002