Tunable-predefined-time-behavioral-control-scheme

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Tunable-predefined-time-behavioral-control-scheme

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In this paper, the predefined-time collision-free formation control issue is investigated for a group of omnidirectional mobile robots. To this end, a tunable predefined-time behavioral control scheme is proposed by introducing the tunable predefined-time stable constraints into task space and dynamic layer of null-space behavioral control.

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This paper investigates the predefined-time formation control for nonlinear multi-agent systems with model uncertainties. A tunable predefined-time distributed behavioral control scheme is developed by embedding a tunable predefined-time criterion into the null-space-based behavioral projection mechanism. Unlike existing distributed behavioral control methods that rely on unknown or fixed convergence bounds, the proposed approach enables explicit and flexible online tuning of the settling time through extra tunable parameters. Each agent coordinates two prioritized distributed behaviors to guarantee task-space convergence within a user-specified predefined time, while allowing the convergence speed to be regulated online without affecting system stability. Furthermore, a tunable predefined-time sliding-mode controller is designed to ensure accurate behavioral trajectory tracking in the presence of uncertainties. The proposed method achieves decentralized formation control with tunable predefined-time convergence that is independent of the initial conditions. Simulation results demonstrate that the closed-loop system satisfies tunable predefined-time bounds, thereby validating the effectiveness and superiority of the proposed scheme.

Open the TPdT_BC250117.m file in MATLAB and switch the workspace from the working directory to the code directory. Please note that the parameters differ from those in the referenced paper; this code is provided solely to validate repeatability.

Tunable-predefined-time-behavioral-control-scheme

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