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

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

doi:10.1109/ISIC.2012.6398274

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 proceeding › Conference Contribution (Conference Proceeding)

12 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 language	English
Title of host publication	2012 IEEE International Symposium on Intelligent Control
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	714-720
Number of pages	7
DOIs	https://doi.org/10.1109/ISIC.2012.6398274
Publication status	Published - Oct 2012
Event	IEEE International Symposium on Intelligent Control 2012 - Dubrovnik, Croatia Duration: 3 Oct 2012 → 5 Oct 2012

Conference

Conference	IEEE International Symposium on Intelligent Control 2012
Country/Territory	Croatia
City	Dubrovnik
Period	3/10/12 → 5/10/12

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10.1109/ISIC.2012.6398274

http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6398274

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@inproceedings{6150303bb88047969981841be6bf20c4,

title = "Finite-Time Adaptive Distributed Control for Double Integrator Leader-Agent Synchronisation",

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.",

author = "Mahyuddin, {Muhammad N} and Guido Herrmann and Jing Na and Lewis, {Frank L}",

year = "2012",

month = oct,

doi = "10.1109/ISIC.2012.6398274",

language = "English",

pages = "714--720",

booktitle = "2012 IEEE International Symposium on Intelligent Control",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

note = "IEEE International Symposium on Intelligent Control 2012 ; Conference date: 03-10-2012 Through 05-10-2012",

}

Mahyuddin, MN, Herrmann, G, Na, J & Lewis, FL 2012, Finite-Time Adaptive Distributed Control for Double Integrator Leader-Agent Synchronisation. in 2012 IEEE International Symposium on Intelligent Control. Institute of Electrical and Electronics Engineers (IEEE), pp. 714-720, IEEE International Symposium on Intelligent Control 2012, Dubrovnik, Croatia, 3/10/12. https://doi.org/10.1109/ISIC.2012.6398274

Finite-Time Adaptive Distributed Control for Double Integrator Leader-Agent Synchronisation. / Mahyuddin, Muhammad N; Herrmann, Guido; Na, Jing et al.
2012 IEEE International Symposium on Intelligent Control. Institute of Electrical and Electronics Engineers (IEEE), 2012. p. 714-720.

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

TY - GEN

T1 - Finite-Time Adaptive Distributed Control for Double Integrator Leader-Agent Synchronisation

AU - Mahyuddin, Muhammad N

AU - Herrmann, Guido

AU - Na, Jing

AU - Lewis, Frank L

PY - 2012/10

Y1 - 2012/10

N2 - 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.

AB - 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.

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DO - 10.1109/ISIC.2012.6398274

M3 - Conference Contribution (Conference Proceeding)

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EP - 720

BT - 2012 IEEE International Symposium on Intelligent Control

PB - Institute of Electrical and Electronics Engineers (IEEE)

T2 - IEEE International Symposium on Intelligent Control 2012

Y2 - 3 October 2012 through 5 October 2012

ER -

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

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