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Finite-Time Consensus for Singularity-Perturbed Multiagent System via Memory Output Sliding-Mode Control.

Jing Xu, Yugang Niu, Yuanyuan Zou

IEEE Transactions on Cybernetics

|February 26, 2021

Summary

This summary is machine-generated.

This study introduces memory output sliding-mode control (SMC) for singularly perturbed multiagent systems (SPMASs). The novel approach achieves finite-time consensus without needing full state measurements, simplifying control design.

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Area of Science:

Control Systems Engineering
Multiagent Systems
Nonlinear Dynamics

Background:

Direct measurement of all state variables is often impractical in real-world systems.
Achieving finite-time consensus in multiagent systems presents significant control challenges.
Singularly perturbed multiagent systems (SPMASs) exhibit complex dynamics due to timescale separation.

Purpose of the Study:

To develop a memory output sliding-mode control (SMC) strategy for finite-time consensus in SPMASs.
To address the challenge of unmeasurable state variables in control design.
To provide a simplified control structure compared to observer-based methods.

Main Methods:

Construction of a virtual state-feedback sliding surface (SFSS) for agent state consensus.
Approximation of unknown output derivatives using a moving finite difference method with refinement.
Design of a memory output switching control law for finite-time stabilization of consensus errors.

Main Results:

The proposed memory output SMC effectively stabilizes consensus errors in finite time.
The control law accounts for estimation biases, singular perturbations, and input noises.
The method avoids complex dynamical structures for state estimation, offering a static control form.

Conclusions:

The memory output SMC is a viable and effective approach for achieving finite-time consensus in SPMASs.
This method offers a simpler alternative to observer-based SMC by eliminating the need for extra state estimation dynamics.
The approach is validated on SPMASs with double-integrator dynamics, demonstrating its practical applicability.