1- Isfahan University of Technology
Abstract: (1821 Views)
Due to their extended use, nowadays, Multi-Agent Systems have attracted the attention of many researchers. Bipartite formation is one of the interesting fields of Multi-Agent Systems that has been raised within a decade. In this research, the distributed bipartite formation of Multi-Agent Systems was investigated by a leader-follower approach. Heterogeneous agents in this approach have second-order nonlinear dynamics, and the communication graph between the agents is also a structurally balanced signed directed graph. Because of the distributed approach of the controller and the lack of existing communication between the leader and all of the followers, a finite-time observer is used to estimate the leader's dynamic in finite time. Also, because a finite-time approach increases performance and efficiency in many practical applications, a terminal sliding mode controller provides finite-time formation. Finally, the validity of the theoretical results is illustrated by simulation examples.
Keywords: Multi-Agent Systems, Bipartite formation, Finite-time stability, Terminal sliding mode control
Type of Article: Research paper |
Subject:
Special
Received: 2023/12/6 | Accepted: 2024/04/13 | ePublished ahead of print: 2024/05/4
Received: 2023/12/6 | Accepted: 2024/04/13 | ePublished ahead of print: 2024/05/4
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