In previous work, a (smooth) finite-time distributed control algorithm with time transformation was introduced for first-order multiagent systems, which guarantees convergence of the single state of agents to a time-varying leader at a-priori given, user-defined time T from any arbitrary initial conditions with bounded local control signals. In this paper, we present an extension of this previous work to second-order multiagent systems. Specifically, utilizing a user-defined finite-time interval of interest t ∈ [0, T), we time transform this class of multiagent systems subject to the considered (smooth) distributed control algorithm to an infinite-time interval s ∈ [0, ∞) with s being the stretched time. Based on a property of this time transformation, this results in finite-time convergence as the regular time t approaches to T from any arbitrary initial conditions with bounded local control and internal signals. Finally, two numerical examples illustrate the efficacy of the proposed algorithm.
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ASME 2018 Dynamic Systems and Control Conference
September 30–October 3, 2018
Atlanta, Georgia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5191-3
PROCEEDINGS PAPER
Further Results on Finite-Time Distributed Control of Multiagent Systems With Time Transformation Available to Purchase
Ehsan Arabi,
Ehsan Arabi
University of South Florida, Tampa, FL
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Tansel Yucelen,
Tansel Yucelen
University of South Florida, Tampa, FL
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John R. Singler
John R. Singler
Missouri University of Science and Technology, Rolla, MO
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Ehsan Arabi
University of South Florida, Tampa, FL
Tansel Yucelen
University of South Florida, Tampa, FL
John R. Singler
Missouri University of Science and Technology, Rolla, MO
Paper No:
DSCC2018-8959, V003T30A004; 9 pages
Published Online:
November 12, 2018
Citation
Arabi, E, Yucelen, T, & Singler, JR. "Further Results on Finite-Time Distributed Control of Multiagent Systems With Time Transformation." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. Atlanta, Georgia, USA. September 30–October 3, 2018. V003T30A004. ASME. https://doi.org/10.1115/DSCC2018-8959
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