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Predefined-time robust control with formation constraints and saturated controls

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A Correction to this article was published on 26 September 2022

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Abstract

In this paper, the predefined-time formation control problem of nonlinear multiagent systems is investigated by using the leader–follower control structure, in which agents are categorized into two types: leaders and followers. The leader determines the desired trajectory for a group of agents by selecting the control parameters. The followers update their actual positions with the specified local positions between themselves and the leader. Formation controls in the presence of practical problems with unknown bounded external disturbances, saturated input, and predefined-time convergence constraints under the directed topology are considered. To achieve the control objective with the consideration of different physical constraints, the general and saturated formation control laws are first presented, their stability analyses are provided, and the asymptotic stability of multiagent systems is ensured. Furthermore, according to two given formation approaches, an explicit smooth solution to the problem of predefined-time formation maneuver control is obtained. The settling time of the proposed predefined-time formation strategy for the followers can be determined by the system parameters, which are independent of the initial positions of the coefficient corresponding to the relative velocities of the agents. Finally, numerical simulations are carried out to illustrate the feasibility and efficacy of the obtained theoretical results.

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Acknowledgements

The authors appreciate the editor, the associate editor, and the anonymous reviewers for their valuable comments and suggestions, which have significantly improved the quality of this paper.

Funding

This work is supported in part by the Special project of 2021 Academic New Seedling Cultivation and Innovation Exploration of Guizhou Institute of Technology under Grant GZLGXM-07, National Natural Science Foundation of China under Grant 6186300, and the Science and Technology Planning Project of Guizhou Province under Grant 20191416.

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Authors and Affiliations

  1. College of Artificial Intelligence and Electrical Engineering, Guizhou Institute of Technology, and Special Key Laboratory of Artificial Intelligence and Intelligent Control of Guizhou Province, Guiyang, 550003, Guizhou Province, People’s Republic of China

    Xiao-Wu Yang & Fei Long

  2. School of Information Technology and Management, Hunan University of Finance and Economics, Changsha, 410205, People’s Republic of China

    Xiao-Ping Fan

  3. College of Engineering, Tongren Polytechnic College, Tongren, 554300, Guizhou Province, People’s Republic of China

    Gan-Rong Li

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  1. Xiao-Wu Yang
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Correspondence to Xiao-Wu Yang.

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Yang, XW., Fan, XP., Long, F. et al. Predefined-time robust control with formation constraints and saturated controls. Nonlinear Dyn 110, 2535–2554 (2022). https://doi.org/10.1007/s11071-022-07670-6

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