Izvorni znanstveni članak
https://doi.org/10.1080/00051144.2024.2329493
A novel finite-time leader-follower consensus control for a disturbed mechanical nonlinear system in presence of actuator saturation
Mohammad H. Shojaeifard
; School of Mechanical Engineering, Iran University of Science and Technology, Iran
Morteza Mollajafari
; School of Automotive Engineering, Iran University of Science and Technology, Iran
Majid Talebi
; School of Automotive Engineering, Iran University of Science and Technology, Iran
Majid Naserian
; Department of Electrical Engineering, Science and Research branch, Islamic Azad University, Tehran, Iran
*
* Dopisni autor.
Sažetak
This paper presents a novel leader-follower consensus control for a particular class of nonlinear
multi-agent mechanical systems in the presence of control input constraints and external disturbances which includes robot system dynamics with a wide range of potential applications in
industry. In this case, one of the agents is selected as the leader to direct the other agents in
such a way that the whole system can reach consensus within certain prescribed performance
transient bounds. Due to the presence of disturbances in most practical systems, the effect of
limited disturbance in the consensus control method has been investigated, and actuator saturation is included in the design process. A terminal sliding mode control method has been
adapted to ensure the stability of the overall system and fast finite-time leader-follower consensus control. The simulation results of the multi-agent nonlinear robot system in MATLAB
environment, in different scenarios with simultaneous consideration of actuator saturation and
external disturbance, will show the efficiency of the proposed control method.
Ključne riječi
Consensus control; disturbance; input constraint; multi-agent system; sliding mode control
Hrčak ID:
326272
URI
Datum izdavanja:
14.5.2024.
Posjeta: 0 *