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Fixed-Time Leader-Follower Output Feedback Consensus for Second-Order Multiagent Systems.

Bailing Tian, Hanchen Lu, Zongyu Zuo

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    This study develops a novel observer-based protocol for second-order multiagent systems, enabling fixed-time consensus without velocity measurements. The method ensures rapid, initial-condition-independent agreement for leader-follower networks.

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    Area of Science:

    • Control Theory
    • Networked Systems
    • Robotics

    Background:

    • Multiagent systems require coordinated behavior for complex tasks.
    • Achieving consensus in finite time, independent of initial states, is a significant challenge.
    • Velocity measurements can be unreliable or unavailable in many real-world applications.

    Purpose of the Study:

    • To address the fixed-time leader-follower consensus problem in second-order multiagent systems.
    • To develop a continuous, distributed observer-based consensus protocol.
    • To eliminate the need for velocity measurements in the consensus protocol.

    Main Methods:

    • Design of a continuous fixed-time distributed observer-based consensus protocol.
    • Application of bi-limit homogeneity and Lyapunov stability techniques.
    • Output feedback control for stability analysis.

    Main Results:

    • Achieved consensus in a bounded finite time, independent of initial conditions.
    • Demonstrated the stability of the multiagent system using the proposed output feedback control.
    • Validated the protocol's efficiency through numerical simulations.

    Conclusions:

    • The proposed observer-based protocol effectively solves the fixed-time consensus problem for second-order multiagent systems.
    • The methodology offers a robust solution even without velocity measurements.
    • The approach provides a reliable framework for achieving coordinated behavior in distributed systems.