Distributed fixed-time leader-following consensus tracking control for nonholonomic multi-agent systems with dynamic uncertainties

被引：16

作者：

Liang, Dengyu ^{[1
]}

Wang, Chaoli ^{[1
]}

Cai, Xuan ^{[1
]}

Li, Yu ^{[1
]}

Xu, Yujing ^{[1
]}

机构：

[1] Univ Shanghai Sci & Technol, Dept Control Sci & Engn, Shanghai 200093, Peoples R China

来源：

NEUROCOMPUTING | 2021年 / 430卷

基金：

中国国家自然科学基金;

关键词：

Distributed consensus control; Fixed-time control; Chained-form systems; Multi-agent systems; STABILIZATION; SYNCHRONIZATION; DESIGN;

D O I：

10.1016/j.neucom.2020.10.094

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The problem of distributed fixed-time leader-following consensus tracking control for nonholonomic chained-form dynamic systems with nonlinear disturbances is considered in this paper. Compared with the existing works, this paper considers a class of more general nonholonomic multi-agent systems where both the leader and the followers have nonlinear uncertainties. For undirected graphs, a distributed observer for each follower is investigated such that both the leader state and input can be estimated by the followers in a fixed time. Based on the distributed observers, a consensus tracking controller is proposed to ensure that the tracking errors convergence to zero within a fixed time. Lyapunov analysis proves the stability of the closed-loop system. A simulation example of wheeled mobile robots is given to demonstrate the effectiveness of the proposed controllers. (c) 2020 Elsevier B.V. All rights reserved.

引用

页码：112 / 120

页数：9

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