Fixed-Time Containment Tracking Control of Fractional-Order Multi-Vehicle Systems with Multiple Leaders: SMC approach

Zamani, Hossein; Johari Majd, Vahid; Khandani, Khosro

doi:10.48308/ijrtei.2025.238781.1076

Fixed-Time Containment Tracking Control of Fractional-Order Multi-Vehicle Systems with Multiple Leaders: SMC approach

Document Type : Research Article

Authors

Hossein Zamani ¹

Vahid Johari Majd ¹

Khosro Khandani ²

¹ The School of Electrical and Computer Engineering, Tarbiat Modares University, Tehran, Iran

² The Department of Electrical Engineering, Faculty of Engineering, Arak University, Arak, Iran

10.48308/ijrtei.2025.238781.1076

Abstract

This paper addresses sliding mode control (SMC) design for disturbed fractional-order multi-vehicle networks in order to achieve containment tracking within a certain settling time. The multi-leader case is investigated where the aim of the containment protocol design is that the states of the fractional-order followers eventually are placed inside a convex hull made by the states of the leaders. The convergence rate is designed such that achieving the containment tracking occurs in a fixed-time manner. Unlike the previous works on finite-time containment control protocols of multi-agent systems, here, we offer a tractable design as the upper limit of the settling time of the convergence is achieved independent of the preliminary conditions of the vehicles' states. A novel SMC approach is proposed which enables the multi-vehicle network to reach the containment tracking at presence of the external disturbances. The numerical simulations reveal the correctness and effectiveness of the proposed theoretical approaches.

Keywords

Fractional-order systems

multi-vehicle network

fixed-time convergence

containment control

Sliding mode control

Subjects