Adaptive coupled-sliding-variable-based finite-time control of composite formation for multi-robot systems  

作　　者：Xinru MA Hengyu LI Jun LIU Yueying WANG Shaorong XIE Jun LUO 

机构地区：[1]School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China [2]School of Mathematics and Computer Application Technology,Jining University,Qufu 273155,China [3]School of Computer Science,Shanghai University,Shanghai 200444,China [4]College of Mechanical and Vehicle Engineering,Chongqing University,Chongqing 400030,China

出　　处：《Science China(Information Sciences)》2024年第10期240-256,共17页中国科学（信息科学）（英文版）

基　　金：supported by National Natural Science Foundation of China(Grant Nos.62073209,61827812,61991415);Shandong Provincial Natural Science Foundation of China(Grant No.ZR2020KA005);Key Research and Development Project of Shandong Province of China(Grant No.2021RKY02033)。

摘　　要：This paper focuses on the finite-time control(FTC)of the composite formation consensus(CFC)problems for multi-robot systems(MRSs).The CFC problems are firstly proposed for MRSs under the complex network topology of cooperative or cooperative-competitive networks.Regarding the problems of FTC and CFC on multiple Lagrange systems(MLSs),coupled sliding variables are introduced to deal with the robustness and consistent convergence.Then,the adaptive finite-time protocols are given based on the displacement approaches.With the premised FTC,tender-tracking methods are further developed for the problems of tracking information disparity.Stability analyses of those MLSs mentioned above are clarified with Lyapunov candidates considering the coupled sliding vectors,which provide new verification for tender-tracking systems.Under the given coupled-sliding-variable-based finite-time protocols,MLSs distributively adjust the local formation error to achieve global CFC and perform uniform convergence in time-varying tracking.Finally,simulation experiments are conducted while providing practical solutions for the theoretical results.

关 键 词：composite formation time-vary tracking information disparity tender-tracking finite-time control nonlinear robots complex networks symmetry consensus 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]