Article ID Journal Published Year Pages File Type
6952559 Journal of the Franklin Institute 2018 28 Pages PDF
Abstract
This paper studies the formation-containment control for multi-robot systems with two-layer leaders in the presence of parametric uncertainties, input disturbances and directed interaction topologies. To cope with the aforementioned issues, we establish a novel formation-containment control framework, where the analysis of the systems is carried out step by step. A hierarchical controller-estimator (HCE) algorithm, containing distributed sliding-mode estimators in each sub-algorithm, is proposed for the two-layer leaders system. Moreover, by invoking finite-time stable and input-to-state stable theories, the sufficient conditions for convergence of the proposed HCE algorithm are presented. Finally, numerous simulations are performed to demonstrate the validity of the theoretical results.
Related Topics
Physical Sciences and Engineering Computer Science Signal Processing
Authors
, , ,