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Practical finite-time coordinated path following in uncertain time-varying flow field

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  • Yongqi Yao
  • Yu-Ping Tian

Abstract

In this paper, the problem of practical finite-time coordinated path following control of a multi-agent system in an uncertain Euler flow field is studied. The coordinated path following control system is decoupled into a path following sub-system and a coordinated formation sub-system. The uncertain Euler flow field is estimated by constructing an extended state observer. By embedding the extended state observer into the design of the finite-time controllers for both sub-systems, practical finite-time stability of the coordinated path following control system is proved. Simulation results are provided for validating the feasibility and effectiveness of the control method.

Suggested Citation

  • Yongqi Yao & Yu-Ping Tian, 2024. "Practical finite-time coordinated path following in uncertain time-varying flow field," International Journal of Systems Science, Taylor & Francis Journals, vol. 55(3), pages 535-549, February.
    • Handle: RePEc:taf:tsysxx:v:55:y:2024:i:3:p:535-549
    DOI: 10.1080/00207721.2023.2285744
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