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In this paper, we propose a systematic solution to the leader-follower consensus of a class of nonholonomic chained form systems. The control design, which is reminiscent of terminal sliding mode and multi-surface sliding mode control methods, is presented to guarantee the convergence of multiple sliding surfaces, which also implies the convergence of the proposed consensus error function. On these...
The application of mobile robotic sensor networks has been widely studied in target localization and pursuit. Conventional target tracking methods always require an explicit system observation model of the target positions, which, however, would fail if such model is unobtainable. In this paper, a distributed target localization and pursuit scheme is proposed based on discrete measurements of the...
This paper studies the finite-time consensus tracking control for multi-agent networks. The time-varying control input and the velocity of the leader is unknown to any follower. Only the position of the leader is known to its neighbors. We first propose a new finite-time multiple-surface sliding mode observer to estimate the leader's velocity. It is seen that the estimation error of the observer can...
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