Regular Papers

International Journal of Control, Automation, and Systems 2023; 21(11): 3650-3658

https://doi.org/10.1007/s12555-022-0563-0

© The International Journal of Control, Automation, and Systems

Fixed-time Coordinated Tracking Consensus of Second-order Multi-agent Systems via Non-singular Terminal Sliding Mode

Fenglan Sun*, Hongjie Tan, and Qiuying Li

Chongqing University of Posts and Telecommunications

Abstract

This paper studies the fixed-time coordinated tracking problem of second-order nonlinear multi-agent systems with unknown disturbances. Based on the fixed-time distributed observer, a non-singular terminal sliding mode protocol is proposed, which could avoid singularity and achieve exact convergence. By using graph theory and Lyapunov stability method, sufficient conditions and the upper bound of setting time for fixed-time coordinated tracking are obtained. Numerical examples are given to show the effectiveness of theoretical results.

Keywords Fixed-time consensus, multi-agent system, observer, terminal sliding mode.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2023; 21(11): 3650-3658

Published online November 1, 2023 https://doi.org/10.1007/s12555-022-0563-0

Copyright © The International Journal of Control, Automation, and Systems.

Fixed-time Coordinated Tracking Consensus of Second-order Multi-agent Systems via Non-singular Terminal Sliding Mode

Fenglan Sun*, Hongjie Tan, and Qiuying Li

Chongqing University of Posts and Telecommunications

Abstract

This paper studies the fixed-time coordinated tracking problem of second-order nonlinear multi-agent systems with unknown disturbances. Based on the fixed-time distributed observer, a non-singular terminal sliding mode protocol is proposed, which could avoid singularity and achieve exact convergence. By using graph theory and Lyapunov stability method, sufficient conditions and the upper bound of setting time for fixed-time coordinated tracking are obtained. Numerical examples are given to show the effectiveness of theoretical results.

Keywords: Fixed-time consensus, multi-agent system, observer, terminal sliding mode.

IJCAS
June 2024

Vol. 22, No. 6, pp. 1761~2054

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