Two-level anti-windup fast control of disturbed multi-agents with application to vehicles formation

Zhimin Xu, Hao An, Yinghui Li and Changhong Wang

International Journal of Systems Science, 2025, vol. 56, issue 15, 3618-3636

Abstract: This paper investigates the fast formation control problem of the multi-agent system (MAS) subject to practical input constraints and mismatched disturbances. An improved terminal sliding mode (TSM) control scheme, which incorporates finite-time disturbance observers (FTDOs) and a saturation level detecting system (SLDS), is proposed for a class of second-order MAS. More specifically, FTDOs effectively estimate both matched and mismatched disturbances in the motion equation of each agent, while the novel SLDS analyses the effect of input saturations and makes different dynamic modifications on both TSM surface and control law with respect to two (light or deep) saturation levels. The proposed two-level anti-windup TSM control theoretically guarantees the finite-time stability of MAS despite the presence of unknown mismatched disturbances and deep input saturations, which is practically applied to the formation control of unmanned ground vehicles with numerical simulations and physical experiments.

Date: 2025
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DOI: 10.1080/00207721.2025.2473488

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