RESUMEN
The formation-containment control problem of multiple underactuated surface vessels (USVs) is investigated in this paper. A hierarchical sliding mode control strategy is proposed to solve this problem under sampling communication. The proposed control comprises two layers: a local sliding model control layer and a distributed coordination layer. The local control layer is designed to drive each USV tracking the reference trajectories, and the distributed coordination layer is proposed to generate the reference trajectories satisfying the control objective of formation-containment control. To achieve the formation-containment control of the closed-loop multiple USVs, a sufficient condition is obtained by utilizing the Lyapunov stability and eigenvalue analysis. Finally, a simulation result is provided to show the effectiveness of the proposed hierarchical sliding mode approach.
RESUMEN
In this paper we investigate the finite-time synchronization for second-order multi-agent system via pinning exponent sliding mode control. Firstly, for the nonlinear multi-agent system, differential mean value theorem is employed to transfer the nonlinear system into linear system, then, by pinning only one node in the system with novel exponent sliding mode control, we can achieve synchronization in finite time. Secondly, considering the 3-DOF helicopter system with nonlinear dynamics and disturbances, the novel exponent sliding mode control protocol is applied to only one node to achieve the synchronization. Finally, the simulation results show the effectiveness and the advantages of the proposed method.
