Finite-time formation control of nonaffine nonlinear systems under directed communication interactions |
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| Institution: | 1. School of Astronautics, Northwestern Polytechnical University, Xi’an 710072, PR China;2. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, PR China;3. Zhongguancun Laboratory, Beijing 100190, PR China;4. School of Electronics and Information, Northwestern Polytechnical University, Xi’an 710072, PR China;5. Institute of Artificial Intelligence, Beihang University, Beijing 100191, PR China;1. OMACSIA Team, Laboratory of Applied Mathematics and Business Intelligence, Department of Earth Sciences, Rabat Superior National School of Mines, Rabat, Morocco;2. TSI Team, Department of Mathematics, Moulay Ismail University, Faculty of Sciences, Meknes, Morocco;1. Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China;2. School of Vehicle and Mobility, Tsinghua University, Bejing 100084, China;1. School of Mathematics and Statistics, Beijing Jiaotong University, Beijing 100044, China;2. School of Mathematical Sciences, University of Jinan, Jinan 250022, China;1. College of Automation & Information Engineering, and Artificial Intelligence Key Laboratory of Sichuan Province, Sichuan University of Science & Engineering, Zigong 643000, China;2. College of Engineering, Huazhong Agricultural University, Wuhan 430070, China;3. School of Electrical and Electronic Engineering, University of Adelaide, Adelaide, SA 5005, Australia;1. Department of Control Science and Engineering, Tongji University, Shanghai 200092, China;2. Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education, East China University of Science and Technology, Shanghai 200237, China;3. School of Electrical and Automation Engineering, East China Jiaotong University, Nanchang 330013, China;1. College of Mathematics and Systems Science, Shandong University of Science and Technology, Qingdao 266590, Shandong, China;2. Faculty of Automation, Guangdong University of Technology, Guangzhou 510006, Guangdong, China;3. School of Computer Science and Engineering, South China University of Technology, Guangzhou 510006, Guangdong, China |
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| Abstract: | This paper studies the problem of finite-time formation tracking control for networked nonaffine nonlinear systems with unmeasured dynamics and unknown uncertainties/disturbances under directed topology. A unified distributed control framework is proposed by integrating adaptive backstepping control, dynamic gain control and dynamic surface control based on finite-time theory and consensus theory. Auxiliary dynamics are designed to construct control gains with non-Lipschitz dynamics so as to guarantee finite-time convergence of formation errors. Adaptive control is used to compensate for uncertain control efforts of the transformed systems derived from original nonaffine systems. It is shown that formation tracking is achieved during a finite-time period via the proposed controller, where fractional power terms are only associated with auxiliary dynamics instead of interacted information among the networked nonlinear systems in comparison with most existing finite-time cooperative controllers. Moreover, the continuity of the proposed controller is guaranteed by setting the exponents of fractional powers to an appropriate interval. It is also shown that the improved dynamic surface control method could guarantee finite-time convergence of formation errors, which could not be accomplished by conventional dynamic surface control. Finally, simulation results show the effectiveness of the proposed control scheme. |
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