Fixed-time convergent consensus algorithm of networked nonholonomic multi-agent systems Article Swipe
In this paper, the problem of fixed-time leaderfollower consensus problem of nonholonomic multi-agent systems is under study. Using the "desingularisation method" introduced in the seminal paper by J.M. Coron [5], new fixedtime controllers/observers for the double integrator system are designed. Following those results, a switching consensus protocol which guarantees the tracking errors stabilization in fixed-time which does not depend on the initial conditions of the multi-agent system is provided. Simulation results on a fleet of wheeled mobile robots show the effectiveness of the proposed scheme.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://hal.archives-ouvertes.fr/hal-03021385
- OA Status
- green
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4287552958
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4287552958Canonical identifier for this work in OpenAlex
- Title
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Fixed-time convergent consensus algorithm of networked nonholonomic multi-agent systemsWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2020Year of publication
- Publication date
-
2020-12-14Full publication date if available
- Authors
-
Michaël Defoort, Thierry Floquet, Wilfrid PerruquettiList of authors in order
- Landing page
-
https://hal.archives-ouvertes.fr/hal-03021385Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://hal.archives-ouvertes.fr/hal-03021385Direct OA link when available
- Concepts
-
Nonholonomic system, Computer science, Multi-agent system, Consensus algorithm, Control theory (sociology), Algorithm, Distributed computing, Artificial intelligence, Mobile robot, Robot, Control (management)Top concepts (fields/topics) attached by OpenAlex
- Cited by
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0Total citation count in OpenAlex
- Related works (count)
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10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.fixed-time | 6, 54 |
| abstract_inverted_index.guarantees | 48 |
| abstract_inverted_index.integrator | 36 |
| abstract_inverted_index.introduced | 21 |
| abstract_inverted_index.multi-agent | 12, 65 |
| abstract_inverted_index.nonholonomic | 11 |
| abstract_inverted_index.effectiveness | 80 |
| abstract_inverted_index.stabilization | 52 |
| abstract_inverted_index.leaderfollower | 7 |
| abstract_inverted_index."desingularisation | 19 |
| abstract_inverted_index.controllers/observers | 32 |
| cited_by_percentile_year | |
| countries_distinct_count | 1 |
| institutions_distinct_count | 3 |
| citation_normalized_percentile.value | 0.33541165 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |