Title :
Finite-time adaptive distributed control for double integrator leader-agent synchronisation
Author :
Mahyuddin, Muhammad Nasiruddin ; Herrmann, Guido ; Na, Jing ; Lewis, Frank L.
Author_Institution :
Dept. of Mech. Eng., Univ. of Bristol, Bristol, UK
Abstract :
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.
Keywords :
adaptive control; control system synthesis; convergence; distributed control; graph theory; integration; multi-agent systems; nonlinear control systems; parameter estimation; robust control; synchronisation; variable structure systems; adaptive consensus algorithms; agent filters; consensus error nonlinear formulation; convergence speed; finite-time adaptive distributed control algorithm; finite-time adaptive estimator design; finite-time consensus control algorithm; local agent information; parameter estimation error information; robustness; second-order controlled leader; second-order double-integrator-type agent synchronisation; sliding-mode-type unit vector; Convergence; Heuristic algorithms; Lead; Parameter estimation; Switches; Synchronization; Vectors;
Conference_Titel :
Intelligent Control (ISIC), 2012 IEEE International Symposium on
Conference_Location :
Dubrovnik
Print_ISBN :
978-1-4673-4598-9
Electronic_ISBN :
2158-9860
DOI :
10.1109/ISIC.2012.6398274