Abstract
This paper investigates consensus based distributed robust asymptotic and finite-time tracking control strategy for second-order multi-agent autonomous systems. The protocol design uses states of the neighboring agents with directed communication topology in the presence of uncertainty associated with the autonomous agents. Robust adaptive learning algorithm uses with the protocol design for each follower agent to learn and adapt bounded uncertainty associated with nonlinear dynamics of the follower agents. Adaptive learning protocol also integrates with the follower agents protocol to learn and adapt bounded input of the leader. Lyapunov method with Graph, classical sliding mode, and terminal sliding mode theory use to guarantee that the proposed distributed control design can reach an agreement and follow the states of the leader in both finite-time and asymptotic sense. Analysis shows that consensus based protocol can force the states of the followers sliding surface to track the states of the leader sliding surface in finite-time and remain there. The proposed distributed consensus protocol does not require the exact bound of the uncertainty associated with the follower agents. Also, the proposed protocol does not require the exact bound of the leader input as opposed to other distributed cooperative control designs. Evaluation results with comparison are presented to demonstrate the validity of the theoretical argument for the real-time applications.
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Recommended by Associate Editor Guangdeng Zong under the direction of Editor Hamind Reza Karimi. Authors thank Editor-in-Chief, Associate Editor and five anonymous reviewers for their constructive comments in first and second round review which definitely improve the presentation of the paper.
Shafiqul Islam obtained his Ph.D. degree in Electrical and Computer Engineering from Ottawa-Carleton Institute for Electrical and Computer Engineering at Carleton University, Canada. Dr. Islam has a master in Control Engineering and B.Sc. in Electrical and Electronic Engineering. His research funded by many organizations including Natural Sciences and Engineering Research Council of Canada (NSERC) Canada, Harvard University, USA, NASA EPSCoR grant, University of Ottawa, Canada, Carleton University, Canada, Lakehead University, Canada, Khalifa University of Science & Technology, UAE, Ministry of Education, Culture, Sports, Science and Technology of Japan, CMC Electronics, etc. He was awarded Research Excellence in Science and Engineering from Carleton University, Canada for his outstanding contribution to research and development. Dr. Islam awarded prestigious NSERC Canada Visiting Research Fellowship award for visiting national and international research laboratory. He is the author and co-author of more than 100 peer-reviewed journal and conference articles in the area of Robotics/Mechatronics and Autonomous Systems, Haptics and Virtual Reality based Interactive Cyber-Physical Network Systems and Smart Power Grid Networks and Control. Dr. Islam has been teaching undergraduate and graduate courses from electrical and computer, robotics, mechatronics and autonomous systems engineering curriculum since 1999. He is currently serving an Associate Editor for IEEE Access journal and editorial board member for many international Journals and Conferences. Dr. Islam was one of the founding members for the undergraduate minor degree program in unmanned aerial vehicle (UAV)/Drone, a graduate research degree program in robotics, and autonomous robotics system research center at the ABET accredited University.
Nikolas I. Xiros is a J.L. Goldman Endowed Professor in Naval Architecture and Marine Engineering at the University of New Orleans. His career spans more than 20 years in both industry and academia and his expertise lies within the fields of marine and electromechanical systems engineering. He holds an electrical engineer’s degree, a M.S. in math, a M.S. in physics and a marine engineering doctorate. His research interests are process modeling and simulation, system identification, dynamics and control, reliability, signal and data analysis. He is author of many technical papers and Springer monograph ‘Robust Control of Diesel Ship Propulsion’. He is also a Chief Editor for the recently published Springer Handbook of Ocean Engineering.
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Islam, S., Xiros, N.I. Robust Asymptotic and Finite-time Tracking for Second-order Nonlinear Multi-agent Autonomous Systems. Int. J. Control Autom. Syst. 17, 3069–3078 (2019). https://doi.org/10.1007/s12555-018-0470-6
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DOI: https://doi.org/10.1007/s12555-018-0470-6