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Fixed-Time Leader-Following Consensus Tracking Control for Nonliear Multi-Agent Systems under Jointly Connected

Meng Zhao1, Chan Gu1, Le Zhao2

  • 1School of Electrical and Control Engineering, Shaanxi University of Science and Technology, Xi'an 720021, China.

Entropy (Basel, Switzerland)
|August 26, 2022
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Summary
This summary is machine-generated.

This study addresses fixed-time consensus for nonlinear multi-agent systems (MASs) with unknown disturbances. A novel protocol ensures follower states precisely match the leader

Keywords:
disturbancefixed-time consensusjointly connected graphmulti-agent systemsnonlinear

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Area of Science:

  • Control Theory
  • Systems Engineering
  • Robotics

Background:

  • Multi-agent systems (MASs) are crucial for complex tasks.
  • Achieving consensus (agreement) in MASs is a fundamental challenge.
  • Fixed-time control offers faster convergence than traditional methods.

Purpose of the Study:

  • To solve the fixed-time leader-following consensus problem for nonlinear MASs.
  • To design a protocol robust to unknown disturbances and nonlinearities.
  • To ensure follower states converge exactly to the leader's state within a finite time.

Main Methods:

  • Design of a fixed-time consensus protocol.
  • Analysis of system stability under jointly connected graphs.
  • Mathematical formulation to handle unknown disturbances and nonlinear terms.

Main Results:

  • The proposed protocol guarantees fixed-time convergence for follower states.
  • The system achieves exact consensus, not just neighborhood convergence.
  • The protocol effectively compensates for unknown disturbances and nonlinearities.

Conclusions:

  • The developed fixed-time consensus protocol is effective for nonlinear MASs.
  • The approach ensures precise leader-following consensus under challenging conditions.
  • Simulation results validate the theoretical findings for practical application.