Leader-following consensus for a class of high-order nonlinear multi-agent systems. (November 2016)

• Record Type: Journal Article
• Authors: Hua, Chang-Chun; You, Xiu; Guan, Xin-Ping
• Is Part Of: Automatica. Volume 73(2016)
• Page Start: 138
• Page End: 144
• Publication Date: 2016-11
• Subjects: Multi-agent system -- Finite-time leader-following consensus -- High-order nonlinear system -- Lower triangular system; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2016.06.025
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: The finite-time leader-following consensus problem is addressed for a class of high-order multi-agent systems with uncertain nonlinear dynamics. Each follower node is modeled by lower-triangular system. By using recursive method, we develop the finite-time consensus control design scheme. Based on finite-time Lyapunov stability theorem and matrix theory, we prove that the finite-time consensus of high-order uncertain nonlinear multi-agent systems is guaranteed by non-lipschitz continuous control laws. Simulation results are given to illustrate the effectiveness of the theoretical results.