Fixed-time consensus tracking control of second-order multi-agent systems with inherent nonlinear dynamics via output feedback. Issue 2 (January 2018)

• Record Type: Journal Article
• Authors: Huang, Yi; Jia, Yingmin
• Is Part Of: Nonlinear dynamics. Volume 91:Issue 2(2018)
• Page Start: 1289
• Page End: 1306
• Publication Date: 2018-01
• Subjects: Multi-agent systems -- Consensus tracking control -- Fixed-time convergence -- Inherent nonlinear dynamics -- Output feedback; Systems engineering -- Periodicals; Chaotic behavior in systems -- Periodicals; Nonlinear theories -- Periodicals; Dynamics -- Periodicals; Ingénierie des systèmes -- Périodiques; Chaos -- Périodiques; Théories non linéaires -- Périodiques; 620.104
• DOI: 10.1007/s11071-017-3945-8
• Languages: English
• ISSNs: 0924-090X

Abstract

Abstract This paper is devoted to the fixed-time consensus tracking control problem for a class of second-order nonlinear multi-agent systems. Firstly, a fixed-time consensus control protocol with full state feedback is proposed, which is consisted of three parts: the higher-order components for uniformly bounded convergence for any initial states, the lower-order components for exact finite time convergence to zero and the linear components for dominating the nonlinear terms in the system dynamics, respectively. By using the Lyapunov approach and bi-limit homogeneous theory, it can be proved that under the designed control protocol the fixed-time consensus tracking control can be achieved. To overcome the lack of the velocity measurements, a fixed-time convergent state observer is designed to estimate the velocity information for each agent. Then a new observer-based fixed-time output feedback control protocol is designed, which can guarantee that the states of all agents can converge to that of the leader in a fixed time. Finally, numerical simulations are performed to demonstrate the fixed-time performance of the proposed control protocol and observer.