Formation-containment control for multi-robot systems with two-layer leaders via hierarchical controller–estimator algorithms. Issue 12 (August 2018)

• Record Type: Journal Article
• Authors: Yao, Xiang-Yu; Ding, Hua-Feng; Ge, Ming-Feng
• Is Part Of: Journal of the Franklin Institute. Volume 355:Issue 12(2018)
• Page Start: 5272
• Page End: 5290
• Publication Date: 2018-08
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2018.05.010
• Languages: English
• ISSNs: 0016-0032

Abstract

Abstract: This paper studies the formation-containment control for multi-robot systems with two-layer leaders in the presence of parametric uncertainties, input disturbances and directed interaction topologies. To cope with the aforementioned issues, we establish a novel formation-containment control framework, where the analysis of the systems is carried out step by step. A hierarchical controller–estimator (HCE) algorithm, containing distributed sliding-mode estimators in each sub-algorithm, is proposed for the two-layer leaders system. Moreover, by invoking finite-time stable and input-to-state stable theories, the sufficient conditions for convergence of the proposed HCE algorithm are presented. Finally, numerous simulations are performed to demonstrate the validity of the theoretical results.