Adaptive sliding mode control for uncertain nonlinear multi-agent tracking systems subject to node failures
The tracking problem of high-order nonlinear multi-agent systems (MAS) with uncertainty is solved by designing adaptive sliding mode control. During the tracking process, node failures are possible to occur, a new agent replaces the failed one. Firstly, a distributed nonsingular terminal sliding mod...
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| Published in | Journal of the Franklin Institute Vol. 359; no. 2; pp. 1385 - 1402 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Elmsford
Elsevier Ltd
01.01.2022
Elsevier Science Ltd |
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| Abstract | The tracking problem of high-order nonlinear multi-agent systems (MAS) with uncertainty is solved by designing adaptive sliding mode control. During the tracking process, node failures are possible to occur, a new agent replaces the failed one. Firstly, a distributed nonsingular terminal sliding mode(NTSM) control scheme is designed for the tracking agents. A novel continuous function is designed in the NTSM to eliminate the singularity and meanwhile guarantee the estimation of finite convergence time. Secondly, the unknown uncertainties in the tracking agents are compensated by proposing an adaptive mechanism in the NTSM. The adaptive mechanism adjusts the control input through estimating the derivative bound of the unknown uncertainties dynamically. Thirdly, the tracking problem with node failures and agent replacements is further investigated. Based on the constructed impulsive-dependent Lyapunov function, it is proved that the overall system will track the target in finite time even with increase of jump errors. Finally, comparison simulations are conducted to illustrate the effectiveness of proposed adaptive nonsingular terminal sliding mode control method for tracking systems suffering node failures. |
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| AbstractList | The tracking problem of high-order nonlinear multi-agent systems (MAS) with uncertainty is solved by designing adaptive sliding mode control. During the tracking process, node failures are possible to occur, a new agent replaces the failed one. Firstly, a distributed nonsingular terminal sliding mode(NTSM) control scheme is designed for the tracking agents. A novel continuous function is designed in the NTSM to eliminate the singularity and meanwhile guarantee the estimation of finite convergence time. Secondly, the unknown uncertainties in the tracking agents are compensated by proposing an adaptive mechanism in the NTSM. The adaptive mechanism adjusts the control input through estimating the derivative bound of the unknown uncertainties dynamically. Thirdly, the tracking problem with node failures and agent replacements is further investigated. Based on the constructed impulsive-dependent Lyapunov function, it is proved that the overall system will track the target in finite time even with increase of jump errors. Finally, comparison simulations are conducted to illustrate the effectiveness of proposed adaptive nonsingular terminal sliding mode control method for tracking systems suffering node failures. |
| Author | Dong, Lijing Liu, Kaige |
| Author_xml | – sequence: 1 givenname: Lijing surname: Dong fullname: Dong, Lijing email: donglj@bjtu.edu.cn organization: School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China – sequence: 2 givenname: Kaige surname: Liu fullname: Liu, Kaige organization: School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China |
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| Snippet | The tracking problem of high-order nonlinear multi-agent systems (MAS) with uncertainty is solved by designing adaptive sliding mode control. During the... |
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| SubjectTerms | Adaptive control Closed loop systems Continuity (mathematics) Control methods Estimation Failure Finite element analysis Liapunov functions Multiagent systems Nodes Nonlinear control Nonlinear systems Sliding friction Sliding mode control Tracking control Tracking control systems Tracking problem Tracking systems Uncertainty |
| Title | Adaptive sliding mode control for uncertain nonlinear multi-agent tracking systems subject to node failures |
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