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

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.

Keywords:

• Coordinated path following control
• extended state observer
• finite-time control
• uncertain flow field
• multi-agent system

Disclosure statement

No potential conflict of interest was reported by the author(s).

Data availability statement

The data that support the findings of this study are available from the corresponding author, Y.-P. Tian, upon reasonable request.

Additional information

Funding

This work was supported by the National Natural Science Foundation of China [grant number 62073107] and the Natural Science Foundation of Zhejiang Province [grant number LZ21F030002].