Robust Decentralized Formation Tracking Control of Complex Multiagent Systems
This article investigates the decentralized formation tracking problem for complex multiagent systems in finite settling time, subjected to output constraints and external disturbances. The barrier Lyapunov function is used to constrain the output of each agent. Therefore, starting inside a closed b...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2024-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2024/5088698 |
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| _version_ | 1832559517364125696 |
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| author | Naveed Mazhar Rameez Khan Abid Raza Fahad Mumtaz Malik Raja Amer Azim Hameed Ullah |
| author_facet | Naveed Mazhar Rameez Khan Abid Raza Fahad Mumtaz Malik Raja Amer Azim Hameed Ullah |
| author_sort | Naveed Mazhar |
| collection | DOAJ |
| description | This article investigates the decentralized formation tracking problem for complex multiagent systems in finite settling time, subjected to output constraints and external disturbances. The barrier Lyapunov function is used to constrain the output of each agent. Therefore, starting inside a closed boundary, the agents are guaranteed to remain inside it for all future time. Under directed communication topology, decentralized time-varying formation tracking is achieved in finite time. Furthermore, in the proposed work, the linear sliding manifold is employed to mitigate the singularity problem that occurs in the conventional robust finite-time methods, i.e., terminal sliding mode-based control schemes. The stability properties of the proposed framework are established through the Lyapunov method which not only ensures the finite-time formation tracking of nonlinear multiagent systems under directed communication but also guarantees that for all time the agents remain inside a closed boundary if they are initially inside it. Consequently, the uniqueness of this article is that it presents a novel formation tracking control framework for multiagent systems that simultaneously considers three performance metrics of robustness, finite-time convergence, and output constraints while mitigating the singularity problem. The proposed topology is validated by implementing the numerical examples in MATLAB/SIMULINK. |
| format | Article |
| id | doaj-art-d8ee9bdc9e504cf7abd7da7f00e3a5fa |
| institution | Kabale University |
| issn | 1099-0526 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-d8ee9bdc9e504cf7abd7da7f00e3a5fa2025-02-03T01:29:50ZengWileyComplexity1099-05262024-01-01202410.1155/2024/5088698Robust Decentralized Formation Tracking Control of Complex Multiagent SystemsNaveed Mazhar0Rameez Khan1Abid Raza2Fahad Mumtaz Malik3Raja Amer Azim4Hameed Ullah5Department of Electrical EngineeringDepartment of Electrical EngineeringDepartment of Electrical EngineeringDepartment of Electrical EngineeringDepartment of Mechanical EngineeringDepartment of Electrical EngineeringThis article investigates the decentralized formation tracking problem for complex multiagent systems in finite settling time, subjected to output constraints and external disturbances. The barrier Lyapunov function is used to constrain the output of each agent. Therefore, starting inside a closed boundary, the agents are guaranteed to remain inside it for all future time. Under directed communication topology, decentralized time-varying formation tracking is achieved in finite time. Furthermore, in the proposed work, the linear sliding manifold is employed to mitigate the singularity problem that occurs in the conventional robust finite-time methods, i.e., terminal sliding mode-based control schemes. The stability properties of the proposed framework are established through the Lyapunov method which not only ensures the finite-time formation tracking of nonlinear multiagent systems under directed communication but also guarantees that for all time the agents remain inside a closed boundary if they are initially inside it. Consequently, the uniqueness of this article is that it presents a novel formation tracking control framework for multiagent systems that simultaneously considers three performance metrics of robustness, finite-time convergence, and output constraints while mitigating the singularity problem. The proposed topology is validated by implementing the numerical examples in MATLAB/SIMULINK.http://dx.doi.org/10.1155/2024/5088698 |
| spellingShingle | Naveed Mazhar Rameez Khan Abid Raza Fahad Mumtaz Malik Raja Amer Azim Hameed Ullah Robust Decentralized Formation Tracking Control of Complex Multiagent Systems Complexity |
| title | Robust Decentralized Formation Tracking Control of Complex Multiagent Systems |
| title_full | Robust Decentralized Formation Tracking Control of Complex Multiagent Systems |
| title_fullStr | Robust Decentralized Formation Tracking Control of Complex Multiagent Systems |
| title_full_unstemmed | Robust Decentralized Formation Tracking Control of Complex Multiagent Systems |
| title_short | Robust Decentralized Formation Tracking Control of Complex Multiagent Systems |
| title_sort | robust decentralized formation tracking control of complex multiagent systems |
| url | http://dx.doi.org/10.1155/2024/5088698 |
| work_keys_str_mv | AT naveedmazhar robustdecentralizedformationtrackingcontrolofcomplexmultiagentsystems AT rameezkhan robustdecentralizedformationtrackingcontrolofcomplexmultiagentsystems AT abidraza robustdecentralizedformationtrackingcontrolofcomplexmultiagentsystems AT fahadmumtazmalik robustdecentralizedformationtrackingcontrolofcomplexmultiagentsystems AT rajaamerazim robustdecentralizedformationtrackingcontrolofcomplexmultiagentsystems AT hameedullah robustdecentralizedformationtrackingcontrolofcomplexmultiagentsystems |