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

Abstract 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.

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