Fixed-Time Leader-Following Consensus for Second-Order Multiagent Systems With Input Delay

Summary This paper addresses the robust consensus problem under switching topologies. Contrary to existing methods, the proposed approach provides decentralized protocols that achieve consensus for networked multiagent systems in a predefined time. Namely, the protocol design provides a tuning parameter that allows setting the convergence time of the agents to a consensus state. An appropriate Lyapunov analysis exposes the capability of the current proposal to achieve predefined‐time consensus over switching topologies despite the presence of bounded perturbations. Finally, this paper presents a comparison showing that the suggested approach subsumes existing fixed‐time consensus algorithms, which allows to provide extra degrees of freedom to obtain predefined‐time consensus protocols with improved convergence characteristics, for instance, to reduce the slack between the true convergence time and the predefined upper bound. Numerical results are given to illustrate the effectiveness and advantages of the proposed method.

Section: Resultsmentioning

confidence: 99%

A class of robust consensus algorithms with predefined‐time convergence under switching topologies

Aldana‐López

Gómez‐Gutiérrez

Defoort

et al. 2019

“…Remark According to Assumption , for the static leaders, we have

\overset{σ}{true}, \overset{f}{true} = 0

and for the dynamic leader, we have

\overset{σ}{true}, \overset{f}{true} > 0

. Moreover, the similar saturated controllers of the leader have been present in other works …”

Section: Preparationmentioning

confidence: 57%

“…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%

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

Liu

Zhang

Liu

et al. 2019

Self Cite

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.

“…To deal with these constraints, new works based on the notion of fixed‐time stability have been studied, which can ensure the bound of settling time regardless of the initial states of the agents. There are lots of results about the linear multiagent systems . In the work of Zhang and Jia, the fixed‐time consensus protocols with linear and nonlinear state measurements were proposed for linear multiagent systems.…”

Section: Introductionmentioning

confidence: 99%

“…There are lots of results about the linear multiagent systems. [33][34][35][36][37] In the work of Zhang and Jia, 33 the fixed-time consensus protocols with linear and nonlinear state measurements were proposed for linear multiagent systems. The fixed-time consensus problem for leaderless and leader-follower multiagent systems was investigated in the works of Liu et al 34 and Zuo.…”

mentioning

confidence: 99%

Distributed event‐triggered fixed‐time consensus for leader‐follower multiagent systems with nonlinear dynamics and uncertain disturbances

Liu

Yao

Sun

et al. 2018

Self Cite

Summary This paper focuses on the distributed event‐triggered fixed‐time consensus control problem of leader‐follower multiagent systems with nonlinear dynamics and uncertain disturbances. Two distributed fixed‐time consensus protocols are proposed based on distributed event‐triggered strategies, which can substantially reduce energy consumption and the frequency of the controller updates. It is proved that under the proposed distributed event‐triggered consensus tracking control strategies, the Zeno behavior is avoided. Compared with the finite‐time consensus tracking, the fixed‐time consensus tracking can be achieved within a settling time regardless of the initial conditions. Finally, 2 examples are performed to validate the effectiveness of the distributed event‐triggered fixed‐time consensus tracking controllers.