کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
695298 | 1460653 | 2015 | 7 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Finite-time consensus of multiple nonholonomic chained-form systems based on recursive distributed observer
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
The consensus tracking problem of multiple nonholonomic high-order chained-form systems is considered in this paper. A finite-time observer-based distributed control strategy is proposed. At the first step, a distributed finite-time convergent observer is proposed for each agent to estimate the leader’s state in a finite time. Then, a finite-time tracking controller is designed to track the estimated state and the leader’s attitude in a finite time. As an application of the proposed results, finite-time formation control of multiple wheeled mobile robots is studied and a finite-time formation control algorithm is proposed. To show effectiveness of the proposed approach, a simulation example is given.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 62, December 2015, Pages 236–242
Journal: Automatica - Volume 62, December 2015, Pages 236–242
نویسندگان
Haibo Du, Guanghui Wen, Xinghuo Yu, Shihua Li, Michael Z.Q. Chen,