Finite-time adaptive distributed control for double integrator leader-agent synchronisation

A finite-time adaptive distributed control algorithm for second-order, double integrator-type agents is suggested to achieve consensus with a second order controlled leader. For this, a recently suggested finite-time adaptive estimator is designed for each agent using only local agent information. T...

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Bibliographic Details
Main Authors: Mahyuddin, M. N., Herrmann, G., Jing Na, Lewis, F. L.
Format: Conference Proceeding
Language:English
Subjects:
Convergence
Heuristic algorithms
Lead
Parameter estimation
Switches
Synchronization
Vectors
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Description
Summary:A finite-time adaptive distributed control algorithm for second-order, double integrator-type agents is suggested to achieve consensus with a second order controlled leader. For this, a recently suggested finite-time adaptive estimator is designed for each agent using only local agent information. This adaptive estimator is driven via direct parameter estimation error information and a nonlinear formulation of the consensus error, which guarantees finite-time consensus. The parameter error information, computed through auxiliary filters for each agent, ensures convergence via a sliding-mode type unit vector in the estimation algorithm. This algorithm is suitably combined with a finite-time consensus control algorithm, enhancing recently suggested adaptive consensus algorithms in terms of robustness, parameter estimation and convergence speed. Suitable comparative simulation examples provide practically relevant evidence.
ISSN:2158-9860
2158-9879
DOI:10.1109/ISIC.2012.6398274