@inproceedings{5940bc7170414e9a933156ac0df88d6e,
title = "Predefined-Time Leader-Following Formation Control of Nonlinear Multiagent Systems under Switching Topologies",
abstract = "The paper proposes a predefined-time leader-following formation control scheme for nonlinear multi-agent systems with external perturbations under switching topologies. Unlike previous work on predefined-time containment control, we aim to create an isosceles triangle shaped formation instead of being covered by a generic convex hull by having followers follow the leader's trajectories. To ensure convergence along the sliding surface within a predefined-time, we present a nonlinear sliding surface. A terminal sliding mode controller is then used to obtain the desired formation within a predefined-time. The convergence time is independent of both initial values and control parameters. Using, common Lyapunov function, predefined-time stability of closed-loop system is investigated. Simulation examples demonstrate that the developed control protocol is feasible and robust.",
keywords = "Predefined-time stability, formation control, leader-follower systems, switching topologies",
author = "Soni, \{Sandeep Kumar\} and Garima Soni and Siyuan Wang and Driss Boutat and Mohamed Djemai and Sorin Olaru and Daniel Geha",
note = "Publisher Copyright: Copyright {\textcopyright} 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/); 22nd IFAC World Congress ; Conference date: 09-07-2023 Through 14-07-2023",
year = "2023",
month = jul,
day = "1",
doi = "10.1016/j.ifacol.2023.10.069",
language = "英语",
series = "IFAC-PapersOnLine",
publisher = "Elsevier B.V.",
number = "2",
pages = "8815--8820",
editor = "Hideaki Ishii and Yoshio Ebihara and Jun-ichi Imura and Masaki Yamakita",
booktitle = "IFAC-PapersOnLine",
address = "荷兰",
edition = "2",
}