文章基本信息

标题：Sliding mode approach for formation control of perturbed second-order autonomous unmanned systems
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作者：Sandeep Kumar Soni ; Ankit Sachan ; Shyam Kamal 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：21
页码：168-173
DOI：10.1016/j.ifacol.2021.12.029
语种：English
出版社：Elsevier
摘要：AbstractThis paper proposes a sliding mode approach for leader-following formation control of perturbed second-order autonomous unmanned systems (AUSs) under directed topology. The leader velocity is assumed to be constant. The formation controller performs two objectives: (i) it obtains the formation control of all the followers, (ii) it achieves the velocity consensus of all the followers. Using Lyapunov stability theory, we have presented the finite-time convergence of sliding surface and asymptotic stability of the closed-loop system. Finally, a numerical example with comparative results demonstrates the efficacy of the proposed method.
关键词：KeywordsMulti-agent systemsSliding mode controlDistributed controlAutonomous unmanned systems (AUSs)Formation control