کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

Finite-Time Bipartite Time-Varying Formation tracking for Heterogeneous Nonlinear Multi-Agent Systems

نویسندگان :

Mohammad Reza Mehrabi Koushki¹ Javad Askari² Marzieh Kamali³

1- دانشگاه صنعتی اصفهان 2- دانشگاه صنعتی اصفهان 3- دانشگاه صنعتی اصفهان

کلمات کلیدی :

Multi-Agent Systems،Bipartite Formation،Time-Varying Formation،Finite-Time Stability،Terminal Sliding Mode Control

چکیده :

This research focuses on bipartite formation tracking of multi-agent systems (MASs), where one group of agents cooperates with the leader to follow its state, while one another group follows the leader's negative state, with both groups working together to achieve the desired formation. For this purpose, an adaptive terminal sliding mode controller is applied to achieve time-varying bipartite formation in finite time. This approach is particularly useful in applications such as aerospace systems and industrial robotics, that require fast convergence and improved coordination among agents. It has been proven that time-varying bipartite formation can be achieved if the communication network contains a spanning tree with the leader as its root. Additionally, the system can achieve the desired formation despite the presence of input disturbances. Finally, the validity and performance of the theoretical results are assessed through simulation examples.