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: Contribution to conference › Paper › peer-review

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
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 (ISIC) - Dubrovnik, Croatia Duration: 3 Oct 2012 → 5 Oct 2012

Conference

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

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10.1109/ISIC.2012.6398274

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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",

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doi = "10.1109/ISIC.2012.6398274",

language = "English",

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note = "IEEE International Symposium on Intelligent Control (ISIC)<br/> ; Conference date: 03-10-2012 Through 05-10-2012",

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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

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T2 - IEEE International Symposium on Intelligent Control (ISIC)<br/>

Y2 - 3 October 2012 through 5 October 2012

ER -

Finite-time adaptive distributed control for double integrator leader-agent synchronisation

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