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
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.
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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.
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