Finite‐Time Consensus Problem for Second‐Order Multi‐Agent Systems Under Switching Topologies

Wang, Fang; Chen, Xin; He, Yong; Wu, Min

doi:10.1002/asjc.1486

Cited by 24 publications

(30 citation statements)

References 34 publications

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“…Compared to some finite‐time controllers , the fixed‐time controller in this paper has an additional fractional power term with an index larger than 1, i.e. ,

1 + \frac{a}{b}

in and .…”

Section: Resultsmentioning

confidence: 99%

See 1 more Smart Citation

Distributed Fixed‐Time Coordinated Tracking for Nonlinear Multi‐Agent Systems Under Directed Graphs

Ning

Jin

Zheng

2017

Asian Journal of Control

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This paper is concerned with the fixed‐time coordinated tracking problem for a class of nonlinear multi‐agent systems under detail‐balanced directed communication graphs. Different from conventional finite‐time coordinated tracking strategies, the fixed‐time approach developed in this paper guarantees that a settling time bound is prescribed without dependence on initial states of agents. First, for the case of a single leader, a distributed protocol based on fixed‐time stability techniques is proposed for each follower to accomplish the consensus tracking in a fixed time. Second, in the presence of multiple leaders, a new distributed protocol is proposed such that states of followers converge to the dynamic convex hull spanned by those of leaders in a fixed time. In addition, for a class of linear multi‐agent systems, sufficient conditions that guarantee the fixed‐time coordinated tracking are provided. Finally, numerical simulations are given to demonstrate the effectiveness of the theoretical results.

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“…Compared to some finite‐time controllers , the fixed‐time controller in this paper has an additional fractional power term with an index larger than 1, i.e. ,

1 + \frac{a}{b}

in and .…”

Section: Resultsmentioning

confidence: 99%

“…Remark 3. Compared to some finite-time controllers [39][40][41][42][43], the fixed-time controller in this paper has an additional fractional power term with an index larger than 1, i.e., 1 + a b in (9) and (21). This power term ensures the containment control is achieved in a fixed time.…”

Section: Remarkmentioning

confidence: 99%

Distributed Fixed‐Time Coordinated Tracking for Nonlinear Multi‐Agent Systems Under Directed Graphs

Ning

Jin

Zheng

2017

Asian Journal of Control

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“…The results have shown that the effectiveness and validity are not only for the chained system, but also for traditional mobile vehicles. Based on the same switching topologies, a multiagent system with second-order separated dynamics addressed the finite-time consensus problem [7]. A distributed protocol was designed to guarantee a finite-time solution for homogeneous agents without predetermined leaders in continuous time domain.…”

Section: Literature Reviewmentioning

confidence: 99%

High Performance of an Adaptive Sliding Mode Controller under Varying Loads for Lifting-Type Autonomous Grounded Robot

et al. 2020

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To work in shared space with humans, autonomous systems must carry unknown loads in predefined missions. With the conventional control scheme, the grounded robot would suffer unstable motion and imprecise tracking performance. To overcome these challenges, in this paper, a novel controller using an adaptive sliding mode for autonomous grounded robots (AGR) is proposed. This control strategy takes into consideration uncertain characteristics, varying loads, and external disturbances. To analyze the tracking performance precisely, the overall error of motion system is decoupled into two subsystems where the second-order system is related to the angular tracking error and the third-order system is associated with the linear one. Initially, the dynamics model of the grounded robot is established containing different elements of nonlinear forces in order to address the technical problems. Then, the system state equation of the autonomous system is mentioned to indicate the theoretical characteristics. Based on the proposed controller, the stability of the system is validated by the Lyapunov theorem. From the results of numerical tests, three practical situations consisting of separately linear and circular trajectories with varying loads and an S-curve trajectory of a working map are suggested. The tracking performance validates that the proposed control scheme is, in various scenarios, robust, effective, and feasible. From these superior outcomes, it can be determined obviously the property of our works in accommodating the variations of cargo from applications in distribution centers, material transportation, or handling equipment.

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“…Recently, the consensus problems, such as the firstorder multiagent systems [9,10], the second-order multiagent systems [6,7,[11][12][13][14][15], the high-order multiagent systems [16,17], and the fractional-order systems [18,19], have been extensively considered. Compared with other multiagent systems, the second-order multiagent systems is more popular for researchers.…”

Section: Introductionmentioning

confidence: 99%

“…In [11], the consensus tracking problem with disturbances and unmodeled dynamics was studied, and the consensus problem with communication delay was developed in [12]. Moreover, the formation control problem with time-varying delays and the finite-time consensus problem with switching topology were discussed as well [13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Leader‐Following Consensus for Second‐Order Nonlinear Multiagent Systems with Input Saturation via Distributed Adaptive Neural Network Iterative Learning Control

2019

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In this paper, the consensus tracking control problem of leader-following nonlinear multiagent systems with iterative learning control is investigated. The model of each following agent consists of second-order unknown nonlinear dynamics and the external disturbance. Moreover, the input of each following agent is subject to saturation constraint. It is assumed that the information of leader is not available to any following agents, and the radial basis function neural network is introduced to approximate the nonlinear dynamics. Then, a distributed adaptive neural network iterative learning control protocol and the adaptive updating laws for the time-varying parameters are proposed, respectively. A new Lyapunov function is constructed to analyze the validity of the presented control protocol. Finally, a numerical example is provided to verify the effectiveness of theoretical results.

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Finite‐Time Consensus Problem for Second‐Order Multi‐Agent Systems Under Switching Topologies

Cited by 24 publications

References 34 publications

Distributed Fixed‐Time Coordinated Tracking for Nonlinear Multi‐Agent Systems Under Directed Graphs

Distributed Fixed‐Time Coordinated Tracking for Nonlinear Multi‐Agent Systems Under Directed Graphs

High Performance of an Adaptive Sliding Mode Controller under Varying Loads for Lifting-Type Autonomous Grounded Robot

Leader‐Following Consensus for Second‐Order Nonlinear Multiagent Systems with Input Saturation via Distributed Adaptive Neural Network Iterative Learning Control

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