Fixed-time distributed tracking and control of multi-agent formation weighted centroid
A sliding mode-based fixed time convergence control method is proposed for the target tracking problem of weighted centroid in multi-agent formation.Each agent only utilizes limited mutual information with its neighbors and achieves a fast and accurate estimation of the weighted centroid position of the entire formation through its own estimator.At the same time,a state dependent-based variable exponential coefficient sliding mode function control method is proposed,which utilizes the relative positions between multi-agent systems as formation constraints to solve the ambiguity problem of formation,and the designed sliding mode function does not have singular problems.Both the estimator and controller can ensure convergence within a fixed time,so the proposed control method can ensure that the weighted centroid of the formation can track the given reference trajectory within a fixed time,and the convergence time is independent of the initial state of the agent.Finally,the effectiveness of the proposed method is verified through simulation test.
multi-agent systemformation controlfixed-time convergencecentroid estimationsliding-mode controldistributed control
万方数据
维普
