Volume 18, Issue 2 (Journal of Control, V.18, N.2 Summer 2024)
JoC 2024, 18(2): 13-24 |
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Mehrabi Koushki M R, Askari J, Kamali M. Finite-Time Bipartite Formation of Nonlinear Heterogeneous Multi-Agent Systems. JoC 2024; 18 (2) :13-24
URL: http://joc.kntu.ac.ir/article-1-1013-en.html
URL: http://joc.kntu.ac.ir/article-1-1013-en.html
1- Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan , Iran.
Abstract: (2524 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 | Published: 2024/09/20
Received: 2023/12/6 | Accepted: 2024/04/13 | ePublished ahead of print: 2024/05/4 | Published: 2024/09/20
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