NDLI: Distributed fixed-time consensus tracking for high-order uncertain non-linear multi-agent systems with switching topologies

Content Provider	IET Digital Library
Author	Zhang, Dandan Duan, Guangren
Abstract	This study investigates the distributed fixed-time consensus tracking for high-order uncertain non-linear multi-agent systems with switching topologies. Each follower is assumed to be in strict-feedback form with both unknown parameters and mismatched disturbances. Different from traditional centralised tracking control problem, only a subset of the agents can acquire the desired trajectory information. By adopting backstepping method and dynamic surface control technique, the distributed fixed-time consensus protocol and appropriate adaptive laws are designed without requiring knowledge of the upper bounds of disturbances. Moreover, the problem of ‘explosion of complexity’ in standard backstepping design is avoided. Under the proposed control protocol, it is shown from the Lyapunov-based analysis that the tracking errors between all followers and the leader can converge to a small neighbourhood of the origin within a fixed time, even though the communication structures among agents dynamically change over time. Finally, a numerical example is carried out to illustrate the effectiveness of the proposed method.
Starting Page	1761
Ending Page	1772
Page Count	12
ISSN	17518644
Volume Number	13
e-ISSN	17518652
Issue Number	Issue 11, Jul (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/13/11
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.5892
Journal	IET Control Theory & Applications
Publisher Date	2019-04-30
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Control Centralised Control Closed Loop System Communication Structures Control Nonlinearities Control System Analysis Control System Synthesis Distributed Control Distributed Fixed-time Consensus Tracking Dynamic Surface Control Technique Feedback Fixed-time Consensus Protocol High-order Uncertain Nonlinear Multiagent System Lyapunov Method Lyapunov-based Analysis Mismatched Disturbances Multi-agent System Multivariable Control System Nonlinear Control System Robust Control Self Adjusting Control System Stability in Control Theory Standard Backstepping Design Switching System (control) Switching Topology Synthesis Method Time Varying Control System Tracking Error Traditional Centralised Tracking Control Problem Trajectory Information Uncertain System Upper Bound
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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