Engineering Seminar Series 2/2_2010: Robust Finite Time Consensus Tracking Algorithm for Multi-Robot Systems

Dr. Khoo Sui Yang, Deakin University

Date: 2010-02-18
Time: 14:00 to 15:00
Venue: 9-3-06


This talk elaborates the finite time consensus tracking control for multi-robot systems. We prove that finite time consensus tracking of multi-agent systems can be achieved on the terminal sliding mode surface. Also, we show that the proposed error function can be modified to achieve relative state deviation between agents. These results are then applied to the finite time consensus tracking control of multi-robot systems with input disturbances. Simulation results are presented to validate the analysis.

About the Speaker

Suiyang Khoo received the B.Eng. degree in electronics and communications engineering from Tasmania University and the Ph.D. degree in computer engineering from Nanyang Technological University, in 2005 and 2008, respectively. In 2008, he was a Research Fellow in the Department of Electrical and Electronics Engineering, Nanyang Technological University, Singapore. Also in 2008, he was a lecturer at the School of Engineering, Monash University, Sunway, Malaysia. Since 2009, he has been with the School of Engineering, Deakin University, Victoria, Australia, where he is now Lecturer in Electronics Engineering. Dr. Khoo’s research interests include variable structure control, multiple-surface sliding mode control, robust fast finite-time control, co-operative control, robotics, adaptive signal processing, time-varying systems, nonlinear systems, neural networks, fuzzy systems, and automatic generation control for multi-area power network.