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Fixed-time consensus control for multi-agent systems with prescribed performance under matched and mismatched

Jin Ke1, Wenchao Huang2, Jingyao Wang1

  • 1Department of Automation, School of Aerospace Engineering, Xiamen University, Xiamen 361102, China.

ISA Transactions
|March 9, 2021
PubMed
Summary

This study introduces three fixed-time prescribed performance methods to ensure multi-agent systems achieve consensus despite disturbances. These methods guarantee tracking errors remain bounded and converge to zero, enhancing system stability and performance.

Keywords:
Anti-disturbancesFixed-time controlMulti-agent systemsPrescribed performance control

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Area of Science:

  • Control Engineering
  • Systems Science
  • Robotics

Background:

  • Multi-agent systems (MAS) face challenges in achieving consensus due to external disturbances.
  • Ensuring both transient and steady-state performance in MAS consensus is critical for practical applications.

Purpose of the Study:

  • To develop novel fixed-time prescribed performance control methods for MAS consensus under disturbances.
  • To guarantee that consensus tracking errors remain within predefined bounds and converge to zero.

Main Methods:

  • Three distinct fixed-time prescribed performance control strategies are proposed.
  • Methods address matched disturbances, then incorporate rate constraints, and finally extend to mismatched disturbances using a fixed-time observer.

Main Results:

  • Consensus tracking error constraints are guaranteed for MAS with matched disturbances.
  • Error rate constraints are incorporated, and the observer-based method handles mismatched disturbances.
  • Simulations demonstrate that errors stay within bounds and converge to zero in fixed time.

Conclusions:

  • The proposed fixed-time methods effectively achieve consensus for disturbed multi-agent systems.
  • Satisfactory transient and steady-state performance, including bounded errors, is achieved.
  • The methods offer robust solutions for complex multi-agent coordination problems.