Department of Electrical Engineering organizing a seminar on " Predefined-time leader-following formation control of nonlinear multiagent systems under switching topologies"
The Department of Electrical Engineering invites you to a seminar : " Predefined-time leader-following formation control of nonlinear multiagent systems under switching topologies" by Dr. Sandeep Kumar Soni on 28 September | 12:00 PM | D128.
In this work we propose a predefined-time leader-following formation control scheme for nonlinear multi-agent systems with external perturbations under switching topologies. To ensure convergence along the sliding surface within a predefined-time, we present a nonlinear sliding surface. A terminal sliding mode controller is then used to obtain the desired formation within a predefined-time. The convergence time is independent of both initial values and control parameters. Using, common Lyapunov function, predefined-time stability of closed-loop system is investigated. Simulation examples demonstrate that the developed control protocol is feasible and robust.
Sandeep Kumar Soni received his Master degree in Control Systems from the University of Mumbai, India, and his Ph.D. degree in Control Systems from the Indian Institute of Technology (BHU) Varanasi, India, in 2013 and 2021, respectively. From January 2022 to May 2023, he was at the INSA Centre Val De Loire Bourges, France as Post Doctoral Fellow.