IDEAS home Printed from https://ideas.repec.org/a/taf/tsysxx/v56y2025i15p3618-3636.html
   My bibliography  Save this article

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

Author

Listed:
  • Zhimin Xu
  • Hao An
  • Yinghui Li
  • Changhong Wang

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.

Suggested Citation

  • Zhimin Xu & Hao An & Yinghui Li & Changhong Wang, 2025. "Two-level anti-windup fast control of disturbed multi-agents with application to vehicles formation," International Journal of Systems Science, Taylor & Francis Journals, vol. 56(15), pages 3618-3636, November.
    • Handle: RePEc:taf:tsysxx:v:56:y:2025:i:15:p:3618-3636
    DOI: 10.1080/00207721.2025.2473488
    as

    Download full text from publisher

    File URL: http://hdl.handle.net/10.1080/00207721.2025.2473488
    Download Restriction: Access to full text is restricted to subscribers.
    File URL: https://libkey.io/10.1080/00207721.2025.2473488?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to

    for a different version of it.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:taf:tsysxx:v:56:y:2025:i:15:p:3618-3636. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Chris Longhurst (email available below). General contact details of provider: http://www.tandfonline.com/TSYS20 .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.