Finite-Time Consensus Tracking of Nonlinear Heterogeneous Multi-Agent Systems With Disturbances and Directed Graphs

Abstract

This paper focuses on consensus tracking problem of heterogeneous multi-agent systems (HMASs) with disturbances and directed graphs. First, nonlinear dynamical models are given for first-order, second-order agents and mobile target. With introducing a distributed filtering method, the immeasurable velocities of agents and the mobile target are estimated by their positional informations. The proposed integral sliding mode control protocols can implement on finite-time consensus tracking of HMASs. Then, using Lyapunov method, the stability of heterogeneous system is proved, and the sufficient condition is provided for achieving the finite-time consensus tracking. The simulation example further illustrates the effectiveness of theoretical results. INDEX TERMS Heterogeneous multi-agent systems, nonlinear dynamics, consensus tracking, sliding mode control.

Distributed Finite-Time and Fixed-Time Containment Control for Nonlinear Multi-Agent Systems Under Heterogeneous Networks

“…Even if the same way strategy, and the same way of transmission, information loss leads to a different topology of position and velocity. To solve this problem, second-order systems which communicating with topologies of different position and velocity are studied in [24], [25], [26], which are called heterogeneous networks.…”

Synchronous fault-tolerant consensus control and disturbance rejection for leader-following multi-agent systems with fault of polynomial form

“…Han et al’s 25 control method based on disturbance observer estimates the disturbance of external system and deals with the control problem of MASs with external disturbance. Pei 26 studied the consensus tracking problem for HMASs with interference and directed graphs. Wang et al 27 developed an interference observer-based method to estimate the interference generated by external systems.…”

Fixed-time consensus of first-order multi-agent systems over signed directed graphs

“…In some applications, it is desired that the cooperative tasks be completed in a finite time. Compared with asymptotic consensus, finite-time consensus has such advantages as anti-disturbance (Li et al, 2019; Pei, 2020) and better robustness (Wu and He, 2020). Given this, some researchers turned their attention to the finite-time consensus of MASs, where consensus was reached within limited time.…”