Fixed-time consensus tracking control of second-order multi-agent systems with inherent nonlinear dynamics via output feedback

Summary This paper is concerned with the problem of fixed‐time consensus tracking control for a class of second‐order multiagent systems under an undirected communication graph. A distributed output‐feedback fixed‐time consensus tracking control scheme is proposed to make the states of all individual agents simultaneously track a time‐varying reference state even when the reference state is available only to a subset of the group members and only output measurements are available for feedback. Homogeneous Lyapunov function and homogeneity property are employed to show that the control scheme can guarantee the consensus tracking errors converging the origin in finite time which is bounded by a fixed constant independent of initial conditions. Numerical simulations are carried out to demonstrate the effectiveness of the proposed control law.

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Fixed‐time output‐feedback consensus tracking control for second‐order multiagent systems

Zou

2019

“…To solve this problem, prescribed finite‐time (or fixed‐time) stability was put forward in the work of Polyakov, which can guarantee the bound of the settling time for any initial states. For the fixed‐time consensus, many results were proposed . The fixed‐time consensus control for MASs with nonlinear inherent dynamics was investigated in the work of Hong et al The leader‐follower consensus results were presented in the work of Defoort et al The fixed‐time consensus for second‐order linear MASs with disturbances was investigated in the work of Liu et al The fixed‐time consensus tracking for second‐order linear MASs was investigated in the works of Zuo and Fu and Wang .…”

Section: Introductionmentioning

confidence: 99%

“…[23][24][25][26][27][28][29][30][31][32][33][34] The fixed-time consensus control for MASs with nonlinear inherent dynamics was investigated in the work of Hong et al 23 The leader-follower consensus results were presented in the work of Defoort et al 24 The fixed-time consensus for second-order linear MASs with disturbances was investigated in the work of Liu et al 25 The fixed-time consensus tracking for second-order linear MASs was investigated in the works of Zuo 26 and Fu and Wang. 27 In the works of Tian et al 28 and Huang and Jia, 29 the observer-based algorithms were developed for second-order MASs and the nonlinear uncertainties were considered. In the work of Ni et al, 30 the fixed-time consensus problem of delayed MASs was solved via a nonsingular terminal sliding mode control.…”

mentioning

confidence: 99%

Robust event‐triggered control of second‐order disturbed leader‐follower MASs: A nonsingular finite‐time consensus approach

Liu

Zhang

Liu

et al. 2019

Summary This paper addresses the finite‐time and the prescribed finite‐time event‐triggered consensus tracking problems for second‐order multi‐agent systems (MASs) with uncertain disturbances. The prescribed finite‐time event‐triggered consensus of the second‐order disturbed MASs was obtained for the first time and the controller is nonsingular. Furthermore, a new self‐triggered control scheme is presented for the finite‐time consensus tracking, and the continuous communication can be avoided in the triggering condition monitoring. Hence, the finite‐time consensus tracking can be achieved with intermittent communication. Moreover, Zeno behavior is excluded for each follower. The efficiency of the proposed algorithms is verified by numerical simulations.

“…Recently, a few interesting results in the area of multiagent systems may give new hints to us . They use the notion of fixed‐time stability that implies guaranteed settling time regardless of the initial conditions.…”

Section: Introductionmentioning

confidence: 99%

Command‐filtered fixed‐time trajectory tracking control of surface vehicles based on a disturbance observer

Gao

Guo

2019

Summary In this paper, we investigate trajectory tracking control of surface vehicles with model parameter uncertainties and external disturbances. The disturbances due to the wind, waves, and ocean currents are combined with the model parameter uncertainties as a compound disturbance. Then, a disturbance observer (DO) is introduced to estimate the compound disturbance, which can be achieved within a finite time independent of the initial estimation error. Based on the DO and, in the context of command filtered control, a novel fixed‐time backstepping control scheme is developed, by which the vehicle can track the desired trajectory with all the states globally stabilized in a given fixed time. The effectiveness and performance of the method are demonstrated by numerical simulations.