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