TY - GEN
T1 - Fixed-time consensus for leader-follower nonlinear multi-agent systems with disturbance
AU - Liu, Ya
AU - Huang, Panfeng
AU - Zhang, Fan
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - This paper investigates fixed-time consensus problem for leader-follower nonlinear multi-agent systems (MAS) subject to bounded disturbances. Based on an integration of nominal control part and sliding mode control part, a new protocol are presented to achieve consensus tracking in fixed time. An distributed integral sliding mode (ISM) is introduced to reject disturbances acted on the MAS. The nominal dynamics of MAS can be ensured when the MAS keep sliding on the ISM. The performance of nominal dynamics is dominated by the nominal control part which guarantees stability in the ISM surface. Independent of any initial state values, the limited bound of the convergence time is emerged. Some numerical simulations and comparisons for second-order MAS are performed to demonstrate the advantages of following designed strategy.
AB - This paper investigates fixed-time consensus problem for leader-follower nonlinear multi-agent systems (MAS) subject to bounded disturbances. Based on an integration of nominal control part and sliding mode control part, a new protocol are presented to achieve consensus tracking in fixed time. An distributed integral sliding mode (ISM) is introduced to reject disturbances acted on the MAS. The nominal dynamics of MAS can be ensured when the MAS keep sliding on the ISM. The performance of nominal dynamics is dominated by the nominal control part which guarantees stability in the ISM surface. Independent of any initial state values, the limited bound of the convergence time is emerged. Some numerical simulations and comparisons for second-order MAS are performed to demonstrate the advantages of following designed strategy.
KW - Disturbance
KW - Fixed-time consensus
KW - Integral sliding mode
KW - Leader-follower multiagent systems
UR - http://www.scopus.com/inward/record.url?scp=85073222026&partnerID=8YFLogxK
U2 - 10.1109/ICARM.2019.8834244
DO - 10.1109/ICARM.2019.8834244
M3 - 会议稿件
AN - SCOPUS:85073222026
T3 - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
SP - 981
EP - 986
BT - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Y2 - 3 July 2019 through 5 July 2019
ER -