Distributed fixed‐time consensus tracking for high‐order uncertain non‐linear multi‐agent systems with switching topologies. Issue 11 (30th May 2019)

• Record Type: Journal Article
• Authors: Zhang, Dandan; Duan, Guangren
• Is Part Of: IET control theory & applications. Volume 13:Issue 11(2019)
• Page Start: 1761
• Page End: 1772
• Publication Date: 2019-05-30
• Subjects: multi‐agent systems -- Lyapunov methods -- control nonlinearities -- adaptive control -- control system synthesis -- closed loop systems -- nonlinear control systems -- uncertain systems -- robust control -- feedback -- distributed control -- switching systems (control) -- centralised control; switching topologies -- traditional centralised tracking control problem -- dynamic surface control technique -- fixed‐time consensus protocol -- tracking errors -- distributed fixed‐time consensus tracking -- high‐order uncertain nonlinear multiagent systems -- trajectory information -- upper bounds -- standard backstepping design -- Lyapunov‐based analysis -- communication structures -- mismatched disturbances; Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/iet-cta.2018.5892
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract : This study investigates the distributed fixed‐time consensus tracking for high‐order uncertain non‐linear multi‐agent systems with switching topologies. Each follower is assumed to be in strict‐feedback form with both unknown parameters and mismatched disturbances. Different from traditional centralised tracking control problem, only a subset of the agents can acquire the desired trajectory information. By adopting backstepping method and dynamic surface control technique, the distributed fixed‐time consensus protocol and appropriate adaptive laws are designed without requiring knowledge of the upper bounds of disturbances. Moreover, the problem of 'explosion of complexity' in standard backstepping design is avoided. Under the proposed control protocol, it is shown from the Lyapunov‐based analysis that the tracking errors between all followers and the leader can converge to a small neighbourhood of the origin within a fixed time, even though the communication structures among agents dynamically change over time. Finally, a numerical example is carried out to illustrate the effectiveness of the proposed method.