Finite-time Coordinated Path-following Control along Convex Loops of Multi-agents with Input Saturation
Chenghang Ji, Yang‐Yang Chen, Xiang Ai · 2020
This article addresses coordinated path-following problem along convex loops of multi-agents with first-order integrator dynamics. Unlike the simple coordinated path-following problem, a finite time bounded algorithm for first-order multi-agent system is proposed, considering both finite time control and bounded control. In this article, the cooperative path tracking system is decoupled into the tracking subsystem and the cooperative formation subsystem. For the tracking subsystem, combining the redesign of potential energy function and the technique of inequality expansion and contraction, the path tracking of agents is realized by the bounded speed of agents along the path method. For the formation subsystem, the path tracking of agents is designed based on the bounded finite time consistency algorithm of the first-order integrator The velocity of radial tangent upward is used to realize cooperative formation.