Fixed-time convergent consensus algorithm ...
Document type :
Autre communication scientifique (congrès sans actes - poster - séminaire...): Communication dans un congrès avec actes
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Title :
Fixed-time convergent consensus algorithm of networked nonholonomic multi-agent systems
Author(s) :
Defoort, Michael [Auteur]
Université Polytechnique Hauts-de-France [UPHF]
Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 [LAMIH]
Floquet, Thierry [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Perruquetti, Wilfrid [Auteur]
Centrale Lille
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Université Polytechnique Hauts-de-France [UPHF]
Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 [LAMIH]
Floquet, Thierry [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Perruquetti, Wilfrid [Auteur]
Centrale Lille
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Conference title :
59th IEEE Conference on Decision and Control (CDC).
City :
Jeju Island (virtual )
Country :
Corée du Sud
Start date of the conference :
2020-12-14
HAL domain(s) :
Informatique [cs]/Automatique
English abstract : [en]
In this paper, the problem of fixed-time leaderfollower consensus problem of nonholonomic multi-agent systems is under study. Using the "desingularisation method" introduced in the seminal paper by J.M. Coron [5], new ...
Show more >In this paper, the problem of fixed-time leaderfollower consensus problem of nonholonomic multi-agent systems is under study. Using the "desingularisation method" introduced in the seminal paper by J.M. Coron [5], new fixedtime controllers/observers for the double integrator system are designed. Following those results, a switching consensus protocol which guarantees the tracking errors stabilization in fixed-time which does not depend on the initial conditions of the multi-agent system is provided. Simulation results on a fleet of wheeled mobile robots show the effectiveness of the proposed scheme.Show less >
Show more >In this paper, the problem of fixed-time leaderfollower consensus problem of nonholonomic multi-agent systems is under study. Using the "desingularisation method" introduced in the seminal paper by J.M. Coron [5], new fixedtime controllers/observers for the double integrator system are designed. Following those results, a switching consensus protocol which guarantees the tracking errors stabilization in fixed-time which does not depend on the initial conditions of the multi-agent system is provided. Simulation results on a fleet of wheeled mobile robots show the effectiveness of the proposed scheme.Show less >
Language :
Anglais
Peer reviewed article :
Oui
Audience :
Internationale
Popular science :
Non
Collections :
Source :
Submission date :
2021-11-14T02:11:08Z
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