Predefined-Time Consensus Tracking of Second-Order Multiagent Systems

Ni, Junkang; Liu, Ling; Tang, Yang; Liu, Chongxin

doi:10.1109/tsmc.2019.2916257

Cited by 109 publications

(60 citation statements)

References 34 publications

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“…Furthermore, the extension of our results to the (leaderless/leader‐follower) predefined‐time consensus problem for agents with high‐order integrator dynamics is not trivial. Indeed, the existing schemes are usually divided into two parts (see, for instance, the works of Zuo et al and Ni et al). The first part is a distributed “observer” to estimate the leader state in a fixed time (this is equivalent to solve n fixed‐time leader‐follower consensus problems for agents of first‐order dynamics).…”

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

Intl J Robust & Nonlinear

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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.

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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

Intl J Robust & Nonlinear

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“…With a pre-specified settling time, these protocols solve the consensus problem of linear MASs over undirected and directed topologies, and directed switching topologies. In [31], consensus tracking is investigated for second order MASs; the settling time bound is related to tunable parameters but it is not constant for all initial conditions.…”

Section: A Related Workmentioning

confidence: 99%

“…As can be seen in fig. 3 (top), the sliding surfaces, defined as (31), initiate on zero. The disturbances make the MAS to evolve slightly out of the surfaces, however the control enforces s i = 0 for t ≥ 3.…”

Section: A Proposed Prescribed-time Consensusmentioning

confidence: 99%

Robust Leader-Following Consensus of High-Order Multi-Agent Systems in Prescribed Time

et al. 2020

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This paper addresses the distributed prescribed-time leader-following consensus problem for a class of high-order multi-agent systems (MASs) with perturbed nonlinear agents dynamics and where the topology of the network contains a directed spanning tree, with the leader as the root. Prescribedtime consensus means that an agreement state of the MAS is achieved in a preset time, introduced as a parameter of the control law, and this constant settling time is achieved independently of the agents' initial state. The proposed control method exhibits three main advantages: first, to our best knowledge, it is the first time that prescribed-time convergence in a consensus problem is achieved for agents with highorder nonlinear dynamics, using a robust leader-following protocol, which allows an effective rejection of matched disturbances in the agents' model. Second, the proposed controller provides control signals of lower magnitude than existing approaches. Third, the proposed consensus protocol does not have parameters to be adjusted depending on the connectivity of the considered communication graph. INDEX TERMS Multi-agent systems, distributed protocol, high-order systems, prescribed-time consensus, time base generators (TBGs).

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“…On the basis of Lyapunov‐like conditions for ensuring dynamic systems to exhibit predefined‐time stability or predefined‐time boundedness, many predefined‐time controllers were designed for various systems, for example, nonlinear second‐order systems, 6‐8 nonholonomic systems, 9 chaotic systems, 10,11 rigid spacecrafts, 12 robotic manipulators 13,14 as well as first‐order and second‐order multi‐agent systems 15,16 . However, the predefined‐time controllers derived on the basis of Lyapunov analysis 3‐14 may provide conservative estimate of upper bounds of system convergence time, especially for high‐order systems.…”

Section: Introductionmentioning

confidence: 99%

Predefined‐time backstepping control for a nonlinear strict‐feedback system

Liu

Hou

et al. 2021

Intl J Robust & Nonlinear

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Two novel predefined‐time control algorithms for a nonlinear strict‐feedback system are proposed in this short communication. It is required that the upper bound of system convergence time is exactly a positive constant parameter in each algorithm, and it can be selected arbitrarily by users. Composite state tracking errors are introduced to the backstepping design process by using some novel smooth time‐varying tuning functions. In order to address the problem of explosion of complexity in the first algorithm, the second algorithm extends the predefined‐time control strategy to a dynamic surface control (DSC) case. Furthermore, the proposed predefined‐time DSC algorithm can guarantee global stability rather than semi‐global stability for the closed‐loop system compared with traditional DSC algorithms. Simulation results show the effectiveness of the two control schemes.

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Predefined-Time Consensus Tracking of Second-Order Multiagent Systems

Cited by 109 publications

References 34 publications

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

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

Robust Leader-Following Consensus of High-Order Multi-Agent Systems in Prescribed Time

Predefined‐time backstepping control for a nonlinear strict‐feedback system

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