文献类型：会议论文

英文题名：Observer-Based Fixed-Time Coordinated Control for Uncertain Nonlinear Multi-agent Systems

作者：Liu, Haitao[1,2]; Huang, Xin[2]

机构：[1] Guangdong Ocean University, School of Mechanical and Power Engineering, Zhanjiang, 524088, China; [2] Southern Marine Science and Engineering Guangdong Laboratory [Zhanjiang], Zhanjiang, 524000, China

会议论文集：2021 4th International Conference on Mechatronics, Robotics and Automation, ICMRA 2021

会议日期：October 22, 2021 - October 24, 2021

会议地点：Virtual, Zhanjiang, China

语种：英文

外文关键词：Navigation - Velocity measurement - Manipulators

外文摘要：In this article, the fixed-time coordinated control problem is solved in terms of uncertain nonlinear multi-agent systems without leader's velocity measurements. Firstly, an innovative leader state observer in absence of velocity measurement is created to obtain the estimate value of the leader status information. Secondly, a fixed-time cooperative tracking control method under the directed network topology is developed. Finally, a simulation carried on a set of manipulators illustrates the vaildation of effectiveness of the control strategy we developed. ? 2021 IEEE.