Adaptive Sliding Mode Control for Multi-agent Time-varying Formation Tracking with Dynamic Actuator Faults

Renhe Guan; Chao Sun; Guoqiang Hu

doi:10.1109/ICCA51439.2020.9264328

Adaptive Sliding Mode Control for Multi-agent Time-varying Formation Tracking with Dynamic Actuator Faults

Renhe Guan
, Chao Sun
, Guoqiang Hu

Nanyang Technological University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper investigates time-varying formation tracking problem for second-order multi-agent system with dynamic actuator faults, time-varying disturbances and noise. Based on sliding mode control method, a new distributed adaptive sliding mode controller is proposed. By Lyapunov stability theory, it can be verified that the multi-agent system with our designed controller can achieve the time-varying formation task and resist the negative influences caused by the adverse factors mentioned above effectively. Unlike some works which can only work for smooth disturbance, our proposed method is effective to any bounded noise and disturbance including unsmooth ones. Furthermore, a numerical example and several simulation results presented in this paper can also demonstrate the effectiveness of the proposed control method.

Original language	English
Title of host publication	2020 IEEE 16th International Conference on Control and Automation, ICCA 2020
Publisher	IEEE Computer Society
Pages	470-475
Number of pages	6
ISBN (Electronic)	9781728190938
DOIs	https://doi.org/10.1109/ICCA51439.2020.9264328
State	Published - 9 Oct 2020
Externally published	Yes
Event	16th IEEE International Conference on Control and Automation, ICCA 2020 - Virtual, Sapporo, Hokkaido, Japan Duration: 9 Oct 2020 → 11 Oct 2020

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
Volume	2020-October
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	16th IEEE International Conference on Control and Automation, ICCA 2020
Country/Territory	Japan
City	Virtual, Sapporo, Hokkaido
Period	9/10/20 → 11/10/20

Keywords

Time-varying formation
actuator faults
adaptive sliding mode control
multi-agent system

Access to Document

10.1109/ICCA51439.2020.9264328

Cite this

Guan, R., Sun, C., & Hu, G. (2020). Adaptive Sliding Mode Control for Multi-agent Time-varying Formation Tracking with Dynamic Actuator Faults. In 2020 IEEE 16th International Conference on Control and Automation, ICCA 2020 (pp. 470-475). Article 9264328 (IEEE International Conference on Control and Automation, ICCA; Vol. 2020-October). IEEE Computer Society. https://doi.org/10.1109/ICCA51439.2020.9264328

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title = "Adaptive Sliding Mode Control for Multi-agent Time-varying Formation Tracking with Dynamic Actuator Faults",

abstract = "This paper investigates time-varying formation tracking problem for second-order multi-agent system with dynamic actuator faults, time-varying disturbances and noise. Based on sliding mode control method, a new distributed adaptive sliding mode controller is proposed. By Lyapunov stability theory, it can be verified that the multi-agent system with our designed controller can achieve the time-varying formation task and resist the negative influences caused by the adverse factors mentioned above effectively. Unlike some works which can only work for smooth disturbance, our proposed method is effective to any bounded noise and disturbance including unsmooth ones. Furthermore, a numerical example and several simulation results presented in this paper can also demonstrate the effectiveness of the proposed control method.",

keywords = "Time-varying formation, actuator faults, adaptive sliding mode control, multi-agent system",

author = "Renhe Guan and Chao Sun and Guoqiang Hu",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 16th IEEE International Conference on Control and Automation, ICCA 2020 ; Conference date: 09-10-2020 Through 11-10-2020",

year = "2020",

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day = "9",

doi = "10.1109/ICCA51439.2020.9264328",

language = "英语",

series = "IEEE International Conference on Control and Automation, ICCA",

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Guan, R, Sun, C & Hu, G 2020, Adaptive Sliding Mode Control for Multi-agent Time-varying Formation Tracking with Dynamic Actuator Faults. in 2020 IEEE 16th International Conference on Control and Automation, ICCA 2020., 9264328, IEEE International Conference on Control and Automation, ICCA, vol. 2020-October, IEEE Computer Society, pp. 470-475, 16th IEEE International Conference on Control and Automation, ICCA 2020, Virtual, Sapporo, Hokkaido, Japan, 9/10/20. https://doi.org/10.1109/ICCA51439.2020.9264328

Adaptive Sliding Mode Control for Multi-agent Time-varying Formation Tracking with Dynamic Actuator Faults. / Guan, Renhe; Sun, Chao; Hu, Guoqiang.
2020 IEEE 16th International Conference on Control and Automation, ICCA 2020. IEEE Computer Society, 2020. p. 470-475 9264328 (IEEE International Conference on Control and Automation, ICCA; Vol. 2020-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper investigates time-varying formation tracking problem for second-order multi-agent system with dynamic actuator faults, time-varying disturbances and noise. Based on sliding mode control method, a new distributed adaptive sliding mode controller is proposed. By Lyapunov stability theory, it can be verified that the multi-agent system with our designed controller can achieve the time-varying formation task and resist the negative influences caused by the adverse factors mentioned above effectively. Unlike some works which can only work for smooth disturbance, our proposed method is effective to any bounded noise and disturbance including unsmooth ones. Furthermore, a numerical example and several simulation results presented in this paper can also demonstrate the effectiveness of the proposed control method.

AB - This paper investigates time-varying formation tracking problem for second-order multi-agent system with dynamic actuator faults, time-varying disturbances and noise. Based on sliding mode control method, a new distributed adaptive sliding mode controller is proposed. By Lyapunov stability theory, it can be verified that the multi-agent system with our designed controller can achieve the time-varying formation task and resist the negative influences caused by the adverse factors mentioned above effectively. Unlike some works which can only work for smooth disturbance, our proposed method is effective to any bounded noise and disturbance including unsmooth ones. Furthermore, a numerical example and several simulation results presented in this paper can also demonstrate the effectiveness of the proposed control method.

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KW - actuator faults

KW - adaptive sliding mode control

KW - multi-agent system

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Adaptive Sliding Mode Control for Multi-agent Time-varying Formation Tracking with Dynamic Actuator Faults

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