Dear Editor,This letter addresses the robust predefined-time control challenge for leaderless optimal formation in networked mobile vehicle(NMV)systems.The aim is to minimize a composite global cost function derived f...Dear Editor,This letter addresses the robust predefined-time control challenge for leaderless optimal formation in networked mobile vehicle(NMV)systems.The aim is to minimize a composite global cost function derived from individual strongly convex functions of each agent,considering both input disturbances and network communication constraints.A novel predefined-time optimal formation control(PTOFC)algorithm is presented,ensuring agent state convergence to optimal formation positions within an adjustable settling time.Through the integration of an integral sliding mode technique,disturbances are effectively countered.A representative numerical example highlights the effectiveness and robustness of the developed approach.展开更多
基金supported by the National Natural Science Foundation of China(62373162,U24A20268,624B2055)the Shenzhen Science and Technology Program(JCYJ 20240813114007010)the Knowledge Innovation Program of Wuhan-Basic Research(2023010201010100).
文摘Dear Editor,This letter addresses the robust predefined-time control challenge for leaderless optimal formation in networked mobile vehicle(NMV)systems.The aim is to minimize a composite global cost function derived from individual strongly convex functions of each agent,considering both input disturbances and network communication constraints.A novel predefined-time optimal formation control(PTOFC)algorithm is presented,ensuring agent state convergence to optimal formation positions within an adjustable settling time.Through the integration of an integral sliding mode technique,disturbances are effectively countered.A representative numerical example highlights the effectiveness and robustness of the developed approach.
