Event-triggered finite-time integral sliding mode controller for consensus-based formation of multirobot systems with disturbances

Ranjith Ravindranathan Nair, Laxmidhar Behera, Swagat Kumar

Research output: Contribution to journalArticle

30 Citations (Scopus)

Abstract

— This paper deals with the distributed fast and finite-time consensus problem of multiagent systems with bounded disturbances in a leader–follower-based frame work. A novel integral sliding mode-based robust finite-time event-triggered control strategy has been proposed. A fast reaching law is also utilized to improve the speed of convergence. The trigger-ing condition is derived based on the defined novel measurement error, suited for systems with model uncertainties/disturbances. The expression for the lower bound for the interexecution time has been derived to ensure that the zeno behavior is avoided. The proposed nonlinear consensus protocol is such that the desired relative state deviation between the agents can be achieved with a directed graph topology. The theoretical results are validated through real-time experimentations done using Pioneer P3-DX as well as FireBird VI robots.
Original languageEnglish
Article number8065034
Pages (from-to)39-47
Number of pages9
JournalIEEE Transactions on Control Systems Technology
Volume27
Issue number1
Early online date11 Oct 2017
DOIs
Publication statusPublished - 1 Jan 2019

Keywords

  • Finite-time event-triggered consensus
  • Finite-time integral sliding mode control (SMC)
  • Leader-follower consensus
  • Multirobot system

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