EconPapers    
Economics at your fingertips  
 

Robust formation control of thrust-propelled vehicles under deterministic and stochastic topology

M. Kabiri, H. Atrianfar and M. B. Menhaj

International Journal of Systems Science, 2019, vol. 50, issue 14, 2715-2731

Abstract: Formation control of multiple thrust-propelled vehicles (TPVs) under deterministic and stochastic switching topologies and communication delay is addressed. Introducing a new version of variable structure control and based upon sliding mode technique, adaptive control and projection operator, we effectively handle the impact of uncertainties on the mass and inertia matrix and a set of time-varying disturbances affecting the translational and rotational dynamics. Global stability of the whole closed-loop system is guaranteed through Lyapunov stability theory. For the deterministic topology, sufficient condition in terms of LMIs is derived to achieve formation in the presence of jointly connected switching topology. In the case of stochastic topology, based on the concept of super-martingales, it is shown that if the probability of existing a connected topology is not zero, under some conditions, formation is almost surely solved in the network. Finally, numerical simulations verify the effectiveness of the proposed control framework.

Date: 2019
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2019.1674408 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:50:y:2019:i:14:p:2715-2731

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2019.1674408

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().

 
Page updated 2025-03-20
Handle: RePEc:taf:tsysxx:v:50:y:2019:i:14:p:2715-2731