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Experimental Implementation of Fixed-Time Leader-Follower Axial Alignment Tracking

Abstract : In this paper, the fixed-time leader-follower axial alignment tracking problem for a group of cooperative agents is investigated. The leader is dynamic and only transmits its position and velocity to its neighbors. A fixed-time algorithm is proposed to solve the consensus tracking problem. Each follower estimates the leader state in a fixed-time using distributed observers. To solve the consensus problem, based on the leader estimate, the followers collectively align their positions with the leader position in a fixed-time which does not depend on the initial positions. The experimental results show the effectiveness and robustness of the proposed fixed-time leader-follower consensus algorithm even in the presence of physical limitations such as packet loss, information delay, etc.
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Submitted on : Thursday, October 28, 2021 - 8:54:52 AM
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Pipit Anggraeni, Wahyu Adhie Candra, Michael Defoort, Mohamed Djemai. Experimental Implementation of Fixed-Time Leader-Follower Axial Alignment Tracking. 2019 International Conference on Mechatronics, Robotics and Systems Engineering (MoRSE), Dec 2019, Bali, Indonesia. pp.86-91, ⟨10.1109/MoRSE48060.2019.8998638⟩. ⟨hal-03406747⟩



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