Fixed-time Consensus Tracking for Second-order Leader-follower Multi-agent Systems with Nonlinear Dynamics Under Directed Topology

被引：13

作者：

Wang, Cong ^{[1
]}

Liu, Cheng-Lin ^{[1
]}

Chen, Yang-Yang ^{[2
]}

Zhang, Ya ^{[2
]}

机构：

[1] Jiangnan Univ, Inst Automat, Key Lab Adv Proc Control Light Ind, Minist Educ, Wuxi 214122, Jiangsu, Peoples R China

[2] Southeast Univ, Sch Automat, Nanjing 210096, Peoples R China

来源：

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2021年 / 19卷 / 08期

基金：

中国国家自然科学基金;

关键词：

Directed topology; distributed observer; fixed-time consensus tracking; leader-follower multi-agent systems; nonlinear dynamics; STABILIZATION; DESIGN;

D O I：

10.1007/s12555-020-0321-0

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, we address the fixed-time consensus tracking problem of second-order leader-follower multi-agent systems with nonlinear dynamics under directed topology. The consensus tracking algorithm consists of distributed observer and observer-based decentralized controller. The fixed-time distributed observer guarantees that each follower estimates the leader's state under directed topology within a fixed time, where the upper bound of convergence time is independent on the initial conditions. The fixed-time decentralized controller makes each follower converge to the leader's state in fixed time via tracking the distributed observer's state and overcome the nonlinear dynamics without adding linear control terms. Finally, the numerical example is provided to illustrate the effectiveness of the results.

引用

页码：2697 / 2705

页数：9

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