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Fixed-time consensus tracking control with connectivity preservation for strict-feedback nonlinear multi-agent

Ya Liu1, Fan Zhang1, Panfeng Huang1

  • 1The Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi 710072, China; The National Key Laboratory of Aerospace Flight Dynamics, Xi'an, Shaanxi 710072, China.

ISA Transactions
|June 18, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces fixed-time consensus tracking control for nonlinear multi-agent systems facing communication range limits. The new method ensures systems converge within a fixed time while maintaining network connectivity.

Keywords:
Connectivity preservationError transformation surfaceFixed-time consensus tracking controlStrict-feedback nonlinear multi-agent systems

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Area of Science:

  • Control Systems Engineering
  • Nonlinear Systems Theory
  • Networked Multi-Agent Systems

Background:

  • Multi-agent systems (MAS) often face challenges with limited communication ranges.
  • Achieving consensus and tracking control in nonlinear MAS under constraints is complex.
  • Fixed-time control offers faster convergence than traditional asymptotic methods.

Purpose of the Study:

  • To develop a fixed-time consensus tracking control strategy for strict-feedback nonlinear MAS.
  • To address limited communication/sensing range constraints within the control design.
  • To ensure guaranteed convergence time and connectivity preservation.

Main Methods:

  • Design of potential functions and coordinate error transformation surfaces to handle implicit constraints.
  • Synthesis of neural networks and adaptive technology for a disturbance-observer-based fixed-time virtual variable.
  • Development of a fixed-time distributed consensus tracking protocol using backstepping and a fixed-time differentiator.

Main Results:

  • The proposed control strategy guarantees convergence within a fixed time, irrespective of initial conditions.
  • Connectivity preservation of the multi-agent system is ensured throughout the operation.
  • Lyapunov stability analysis confirms the theoretical effectiveness of the control approach.

Conclusions:

  • The presented fixed-time control strategy effectively addresses consensus tracking for nonlinear MAS with range constraints.
  • The method provides a guaranteed convergence time and maintains system connectivity.
  • Numerical simulations validate the practical applicability and performance of the proposed control.