Distributed fixed-time control of high-order multi-agent systems with non-holonomic constraints *

被引：15
作者：
Chen, Yanyu [1 ,2 ,3 ]
Zhu, Bing [1 ]
机构：
[1] Beihang Univ, Res Div 7, Beijing 100191, Peoples R China
[2] China Elect Technol Grp Corp, Res Inst 45, Beijing 100176, Peoples R China
[3] Politecn Milan, Sch Ind & Informat Engn, I-20133 Milan, Italy
来源：
JOURNAL OF THE FRANKLIN INSTITUTE | 2021年 / 358卷 / 06期
基金：
中国国家自然科学基金;
关键词：
COOPERATIVE CONTROL; CONSENSUS; STABILIZATION; TRACKING; AGENTS; INFORMATION; ALGORITHM; NETWORKS; TOPOLOGY; PROTOCOL;
D O I：
10.1016/j.jfranklin.2021.02.006
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a protocol is proposed for fixed-time consensus of the high-order chained-form multiagent systems subject to non-holonomic constraints. By employing the backstepping structure and a power integrator, the distributed fixed-time protocol is designed to guarantee that system states reach consensus before a fixed time. The fixed settling time can be calculated explicitly, and it is independent of initial conditions. The proposed protocol is applied to multi-agent wheeled mobile robots to support the theoretical result. (c) 2021 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：2948 / 2963
页数：16
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