Terminal-Time Synchronization of Multivehicle Systems Under Sampled-Data Communications

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)2625-2636
Journal / PublicationIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number4
Online published25 Jan 2021
Publication statusPublished - Apr 2022


This article presents a novel technique for terminal-time synchronization of multivehicle systems. Taking sampled-data communications into account, the terminal-time synchronization problem of multivehicle systems is formulated as three demands. An estimation of terminal time is introduced for each vehicle, and a cooperative algorithm is designed based on motion planning to synchronize all estimated terminal times by using only local sampled-data information. The proposed algorithm not only can ensure the consensus of estimated terminal times at appointed time, but also can make the estimates finally be equal to the actual terminal times. To avoid Zeno behavior, the explicit expression of the norm of the consensus error is formulated, based on which the sampling interval sequence is modified to realize appointed-time approximate consensus of the actual terminal times. Local controller is also designed for each vehicle to ensure the fixed-time convergence of the relative velocity normal to the line of sight, and thus the singularity of control input at terminal time instant is successfully avoided. Experiments are performed to verify the effectiveness of the algorithms.

Research Area(s)

  • Acceleration, Appointed-time consensus, Convergence, cooperative guidance, Kinematics, multivehicle system, sampled-data communication, simultaneous attack, Synchronization, Task analysis, terminal-time synchronization, Transmission line matrix methods, Weapons