Finite‐time consensus of multiagent systems with input saturation and disturbance

Abstract

Summary This study focuses on distributed finite‐time consensus control of second‐order multiagent systems (MASs) with of both input saturation and disturbances. To achieve finite‐time consensus of the MAS with input saturation, a distributed controller is designed by considering relative position and relative velocity measurements. In particular, a continuous integral sliding mode method is designed to deal with bounded disturbances. With the proposed controller, the system state enters the sliding mode from any initial state and will be stably and reliably maintained, where the disturbance can be compensated by a disturbance observer. Based on the continuous homogeneous theory, it is validated that the proposed combined protocol will guarantee finite‐time consensus of MASs in the format of second‐order integrators with input saturation and disturbances. Both the leader‐following and leaderless cases are considered and solved in this study. Finally, the effectiveness of the proposed method is verified by numerical simulations.

A novel bipartite consensus tracking scheme for unknown nonlinear multi-agent systems: Theoretical analysis and applications

“…It is noted that most approaches 1–15 are dependent on the structure, dynamics, and assumptions imposed on the system model. Hence, these methods are called model-based control (MBC) approaches.…”

“…The proposed DDDBCT scheme for MASs only uses the I/O data without requiring any information of the controlled plant’ dynamics, which are required by most existing methods. 1–10…”

“…The consensus aims to guarantee that all agents reach a certain target, such as the same position, velocity, and angle. To address this problem, many effective methods have been proposed recently, such as finitetime consensus methods, 4,5 fixed-time consensus methods, 6,7 event-trigger-based consensus methods, 8 and also some novel methods. 9,10 However, the above methods presume that the interaction among agents is collaborative.…”

“…For the BC problems of MASs, several investigations have been consistently conducted from miscellaneous perspectives in the past few years. The fixed-time BC problem of heterogeneous linear MASs is investigated by Zhang et al 12 The finite-time BC problem is considered for MASs with directed signed networks by Wang et al 13 The prescribed performance issue of MASs with input uncertainties is studied by Yu et al 14 The quantized-data issue for robotic systems to perform BC tasks is discussed by Ding et al 15 It is noted that most approaches [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15] are dependent on the structure, dynamics, and assumptions imposed on the system model. Hence, these methods are called model-based control (MBC) approaches.…”

Distributed Adaptive Output Consensus for High-Order Multiagent Systems with Input Saturation and Uncertain Nonlinear Dynamics

“…In [26], high-order MAS with nonlinear dynamics and partially unknown nonidentical time-varying control directions, as well as bounded external disturbances, was considered, where the communication digraph was assumed to be strongly connected. Note that most of the existing works including those mentioned above did not take input saturation into account, which is often encountered in practical applications due to physical limitations of actuators and may cause the instability or damage the control systems' performance [27][28][29][30][31].…”