Leader-following output-feedback consensus for second order multiagent systems with arbitrary convergence time and prescribed performance☆

被引：3
作者：
Gong, Wenquan [1 ]
Li, Bo [1 ]
Yang, Yongsheng [1 ]
Xiao, Bing [2 ]
Ran, Dechao [3 ]
机构：
[1] Shanghai Maritime Univ, Inst Logist Sci & Engn, Shanghai 201306, Peoples R China
[2] Northwestern Polytech Univ, Sch Automat, Xian 710072, Peoples R China
[3] Chinese Acad Mil Sci, Natl Innovat Inst Def Technol, Beijing 100071, Peoples R China
来源：
ISA TRANSACTIONS | 2023年 / 141卷
基金：
上海市自然科学基金; 中国国家自然科学基金;
关键词：
Leader -following consensus; Prescribed -time control; Output feedback control; Measurement errors; Prescribed -performance control; FINITE-TIME; TRACKING CONTROL; NONLINEAR-SYSTEMS; ADAPTIVE-CONTROL; STABILIZATION; SPACECRAFT;
D O I：
10.1016/j.isatra.2023.07.001
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper investigates the prescribed-time leader-following output-feedback consensus problem for second order multiagent systems without velocity measurement. Firstly, by introducing a time-scaling function, novel prescribed-time state observers are designed to estimate the second-order states of the agents. Then, a distributed output-feedback scheme is proposed to achieve leader-following consensus, where the transient performance, including the convergence rate and the overshoot, can be offline pre-assigned. It should be noted that the singularity-like problem is solved for the system under measurement errors by adopting a form of piecewise functions. Moreover, the control strategy is modified by introducing an auxiliary system when taking the common saturation problem into account. Finally, the efficiency of the proposed schemes is illustrated by numerical simulation examples.(c) 2023 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：251 / 260
页数：10
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