Observer-Based Consensus of Higher-Order Nonlinear Heterogeneous Multiagent Systems with Unmatched Uncertainties: Application on Robotic Systems. Issue 9 (14th September 2020)

• Record Type: Journal Article
• Authors: Rahimi, N.; Binazadeh, T.; Shasadeghi, M.
• Is Part Of: Robotica. Volume 38:Issue 9(2020)
• Page Start: 1605
• Page End: 1626
• Publication Date: 2020-09-14
• Subjects: Fixed/finite-time stability, -- Consensus, -- Nonlinear heterogeneous multiagent systems, -- Disturbances observer, -- Matched and unmatched uncertainties, -- Robotic multiagent systems; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574719001656
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: The consensus of higher-order nonlinear heterogeneous multiagent systems with matched and unmatched uncertainties is studied in this paper. The distributed observer-based controllers for multiagent systems are achieved using a fixed-time sliding mode controller based on the disturbance observer. For this purpose, the disturbance observers are designed for finite-time estimation of matched and unmatched uncertainties. Using the estimated values, the fixed-time distributed sliding mode controllers are designed and the consensus protocol is achieved. In this regard, a theorem is proved, which guarantees the fixed-time convergence of consensus errors. The effectiveness of the proposed distributed controllers has been validated through simulations for two robotic multiagent systems and a numerical example.