Robust Finite-Time Consensus Tracking Algorithmfor Multirobot Systems

Authors

  • P Kowmudi
  • P Rajesh Naik
  • K Tirupathi Rao

DOI:

https://doi.org/10.46243/jst.2020.v5.i06.pp141-143

Keywords:

Finite-time consensus, multiagent systems, mul-tirobot systems, terminal sliding-mode (TSM) control.

Abstract

This paper studies the finite-time consensus track- ing control for multirobot systems. We prove that finite-time consensus tracking of multiagent systems can be achieved on the terminal sliding-mode surface. Also, we show that the proposed error function can be modified to achieve relative state devia- tion between agents. These results are then applied to the finite- time consensus tracking control of multirobot systems with in- put disturbances. Simulation results are presented to validate theanalysis. Index Terms—Finite-time consensus, multiagent systems, mul-tirobot systems, terminal sliding-mode (TSM) control.

Downloads

Published

2024-05-03

How to Cite

P Kowmudi, P Rajesh Naik, & K Tirupathi Rao. (2024). Robust Finite-Time Consensus Tracking Algorithmfor Multirobot Systems. Journal of Science & Technology (JST), 5(6), 141–143. https://doi.org/10.46243/jst.2020.v5.i06.pp141-143