Further Results on Finite-Time Distributed Control of Multiagent Systems with Time Transformation
In previous work, a (smooth) finite-time distributed control algorithm with time transformation was introduced for first-order multiagent systems, which guarantees convergence of the single state of agents to a time-varying leader at a-priori given, user-defined time T from any arbitrary initial conditions with bounded local control signals. In this paper, we present an extension of this previous work to second-order multiagent systems. Specifically, utilizing a user-defined finite-time interval of interest t ∈ [0, T ), we time transform this class of multiagent systems subject to the considered (smooth) distributed control algorithm to an infinite-time interval s ∈ [0, ∞) with s being the stretched time. Based on a property of this time transformation, this results in finite-time convergence as the regular time t approaches to T from any arbitrary initial conditions with bounded local control and internal signals. Finally, two numerical examples illustrate the efficacy of the proposed algorithm.
E. Arabi et al., "Further Results on Finite-Time Distributed Control of Multiagent Systems with Time Transformation," Proceedings of the ASME 2018 Dynamic Systems and Control Conference (2018, Atlanta, GA), vol. 3, American Society of Mechanical Engineers (ASME), Sep 2018.
The definitive version is available at https://doi.org/10.1115/DSCC2018-8959
ASME 2018 Dynamic Systems and Control Conference, DSCC 2018 (2018: Sep. 30-Oct. 3, Atlanta, GA)
Mechanical and Aerospace Engineering
Mathematics and Statistics
Keywords and Phrases
Aircraft detection; Control system analysis; Distributed parameter control systems; Motion planning; Networked control systems; Software agents; Vibration analysis; Distributed control; Distributed control algorithms; Finite time intervals; Finite-time convergence; Infinite time; Initial conditions; Internal signals; Second orders; Multi agent systems
International Standard Book Number (ISBN)
Article - Conference proceedings
© 2018 American Society of Mechanical Engineers (ASME), All rights reserved.
01 Sep 2018