DocumentCode :
736649
Title :
Discontinuous finite-time consensus algorithm for multiple nonholonomic systems with disturbances
Author :
Shi, Shang ; Yu, Xin ; Liu, Guohai ; Li, Wuquan
Author_Institution :
School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, Jiangsu Province, China
fYear :
2015
fDate :
28-30 July 2015
Firstpage :
7269
Lastpage :
7274
Abstract :
A discontinuous finite-time consensus algorithm for multiple nonholonomic systems with disturbances is studied. The nonholonomic systems are transformed into two subsystems with disturbances. Firstly, two integral terminal sliding surface are designed. We will illustrate that, when the sliding surfaces reach zero, the state consensus is achieved in a finite time for the two subsystems respectively. Then, terminal sliding mode(TSM) control laws are designed to guarantee the finite-time reaching of two sliding surfaces. Next, a designed switching control strategy is proposed to guarantee the state consensus for the overall nonholonomic systems. Finally we demonstrate the effectiveness of our proposed controllers with simulation.
Keywords :
Algorithm design and analysis; Electronic mail; Lyapunov methods; Mobile agents; Multi-agent systems; Protocols; Switches; Disturbances; Finite-time consensus; Multiple nonholonomic systems; Terminal sliding mode;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2015 34th Chinese
Conference_Location :
Hangzhou, China
Type :
conf
DOI :
10.1109/ChiCC.2015.7260791
Filename :
7260791
Link To Document :
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