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Fenglan Sun,Hongjie Tan,Qiuying Li 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.11
This paper studies the fixed-time coordinated tracking problem of second-order nonlinear multi-agent systems with unknown disturbances. Based on the fixed-time distributed observer, a non-singular terminal sliding mode protocol is proposed, which could avoid singularity and achieve exact convergence. By using graph theory and Lyapunov stability method, sufficient conditions and the upper bound of setting time for fixed-time coordinated tracking are obtained. Numerical examples are given to show the effectiveness of theoretical results.