Finite-Time Adaptive Distributed Control for Double Integrator Leader-Agent Synchronisation

Muhammad N Mahyuddin, Guido Herrmann, Jing Na, Frank L Lewis

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

11 Citations (Scopus)

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.
Original languageEnglish
Title of host publication2012 IEEE International Symposium on Intelligent Control
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages714-720
Number of pages7
DOIs
Publication statusPublished - Oct 2012
EventIEEE International Symposium on Intelligent Control 2012 - Dubrovnik, Croatia
Duration: 3 Oct 20125 Oct 2012

Conference

ConferenceIEEE International Symposium on Intelligent Control 2012
CountryCroatia
CityDubrovnik
Period3/10/125/10/12

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