Distributed Adaptive Finite-Time Consensus for Second-Order Multiagent Systems With Mismatched Disturbances Under...

Area of Science:

• Control Systems Engineering
• Networked Systems
• Robotics

Background:

• Multiagent systems (MASs) are crucial for distributed tasks.
• Achieving consensus in finite time is challenging due to disturbances and directed topologies.
• Existing methods often require global information or lack disturbance handling.

Purpose of the Study:

• To investigate the finite-time output consensus problem for second-order MASs with mismatched disturbances.
• To develop novel adaptive control protocols for achieving finite-time consensus.
• To address scenarios with directed communication topologies and unknown disturbances.

Main Methods:

• A backstepping control protocol was initially designed for systems without disturbances.
• A finite-time disturbance observer was developed to estimate unknown mismatched disturbances.
• Two adaptive finite-time consensus protocols were proposed using the observer's estimates.

Main Results:

• The proposed protocols ensure finite-time output consensus for the considered MASs.
• Finite-time tracking consensus was achieved even with directed communication.
• The methods do not require global information about the communication topology.

Conclusions:

• The developed adaptive protocols effectively solve the finite-time output consensus and tracking consensus problems for second-order MASs.
• The finite-time disturbance observer is key to handling mismatched uncertainties.
• Simulation results validate the theoretical findings and the practical applicability of the proposed control strategies.