Fixed-time leader-following consensus of multiple uncertain nonholonomic systems: An adaptive distributed observer approach. Issue 12 (August 2022)

• Record Type: Journal Article
• Authors: Jin, Zengke; Wang, Chaoli; Liang, Dong; Zuo, Zongyu; Liang, Zhenying
• Is Part Of: Journal of the Franklin Institute. Volume 359:Issue 12(2022)
• Page Start: 6361
• Page End: 6391
• Publication Date: 2022-08
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2022.06.026
• Languages: English
• ISSNs: 0016-0032

Abstract

Highlights: Generalize the fixed-time control of nonholonomic systems with uncertainties driven by inputs and states from the stability problem to the consensus problem. The control law proposed in this paper weakens the assumptions of similar references on the uncertainty functions. The fixed-time adaptive distributed observer designed in this paper significantly speeds up the observation speed of the traditional adaptive distributed observer. And compared with the reference that proposes similar fixed-time adaptive distributed observer, the observer proposed in this paper ensures that global information does not appear in the control law. Abstract: This paper discusses the fixed-time leader-following consensus problem for multiple uncertain nonholonomic systems, which are widely used in engineering models. According to our literature review, either the system is assumed to be known, or the uncertainty only contains state information, which does not meet the actual requirements. For this reason, this paper investigates more general nonholonomic systems with uncertainties driven by inputs and states. First, a fixed-time adaptive distributed observer is proposed to estimate the leader's state and structural parameters, which ensures that the estimation errors converge to zero within a fixed time. Second, two regulator equations based on the idea of cooperative output regulation are constructed, and a novel observer-based distributed switching control law is proposed. This control law overcomes the nonholonomic constraints and appropriately relaxes the assumptions of uncertain functions in the existing references. Finally, the simulation results verify the effectiveness of the proposed control scheme.