3 years ago

Application of multi-agent consistency analysis based on finite state machine in driverless vehicles formation control

Niaona Zhang, Xiaofang Zhang

Publication date: 2018

Source: IFAC-PapersOnLine, Volume 51, Issue 31

Author(s): Niaona Zhang, Xiaofang Zhang


The consensus problem in directed networks of multi-agents under fixed topology is studied. A second-order sliding mode control algorithm based on finite state machine is applied to mult-iagent system. Under the condition that the first derivative of sliding mode is unknown, the control output is generated by switching between multiple state machines according to the measured value of sliding mode, so that the sliding mode and its first derivative converge to zero in a finite time, and to achieve the goal that the multi-agent system can be consistent for a limited period of time.Finally, the multi-agent control idea based on finite state machine is applied to driverless vehicles formation control. The results show that this method can be successfully applied to driverless vehicles formation control.

You might also like
Discover & Discuss Important Research

Keeping up-to-date with research can feel impossible, with papers being published faster than you'll ever be able to read them. That's where Researcher comes in: we're simplifying discovery and making important discussions happen. With over 19,000 sources, including peer-reviewed journals, preprints, blogs, universities, podcasts and Live events across 10 research areas, you'll never miss what's important to you. It's like social media, but better. Oh, and we should mention - it's free.

  • Download from Google Play
  • Download from App Store
  • Download from AppInChina

Researcher displays publicly available abstracts and doesn’t host any full article content. If the content is open access, we will direct clicks from the abstracts to the publisher website and display the PDF copy on our platform. Clicks to view the full text will be directed to the publisher website, where only users with subscriptions or access through their institution are able to view the full article.