Distributed Adaptive Finite-Time Consensus for High-Order Multi-Agent Systems with Intermittent Communications under Switching Topologies

Abstract

In this paper, a distributed adaptive finite-time consensus (FTC) control protocol for a high-order multi-agent system (MAS) with intermittent communications under switching topologies is proposed. Meanwhile, considering the problem of heterogeneous unknown nonlinearities and other uncertain disturbances, the adaptive neural network and the sliding mode control method are used to compensate the nonlinearity of each agent separately. The agents are homogeneous, so the system has symmetry. The switching topologies considered in this paper are asymmetric. Compared with consensus protocol for asymptotic convergence, simulation results show that the proposed method can effectively solve the presence of the nonlinear and accelerate the convergence speed of the system so that an FTC can be reached.

Adaptive Fuzzy Fixed-Time Control for Nonlinear Systems with Unmodeled Dynamics

“…Step 4: Establish adaptive laws (25) and (26),virtual controllers ( 22)- (24), and error compensation mechanism ( 28)- (30).…”

“…They not only improve disturbance rejection capabilities, achieve faster convergence rate, and enhance tracking accuracy, but they also guarantee that the control objective can be achieved within a finite time [26][27][28][29]. It is crucial to note that the determination of settling time in finite-time control algorithms is assessed based on the initial states of the systems [30][31][32]. However, meeting the initial condition requirement is not always possible as the initial conditions are always unknown in applied settings.…”

Adaptive Fuzzy Fixed-Time Control for Uncertain Nonlinear Systems with Mismatched Disturbances

“…It is worth noting that a limitation of finite-time control is its dependence on the initial states for convergence time [20][21][22][23]. The applicability of finite-time control is impeded by the necessity to have information about initial states for determining convergent time, a requirement that may not always be met due to uncertainties in the initial conditions in real-world applications [24][25][26]. Hence, the finite-time controller incorporates the concept of fixed-time stability, ensuring that the convergent time remains unaffected by the initial conditions [27][28][29].…”