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An improved robust fixed-time bipartite flocking tracking control scheme for networked agents with unknown

Ruichi Ren1, Kaiyu Qin1, Weihao Li1

  • 1School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, 611731, China; Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province, Chengdu, 611731, China.

ISA Transactions
|October 30, 2025
PubMed
Summary

This study introduces a robust fixed-time control scheme for multi-agent systems (MASs) to achieve flocking tracking. The novel controller ensures faster convergence and disturbance rejection, enhancing system robustness.

Keywords:
Bipartite flocking trackingFixed-time convergenceMulti-agent systemsUnknown disturbances

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Area of Science:

  • Robotics
  • Control Theory
  • Networked Systems

Background:

  • Multi-agent systems (MASs) require coordinated behavior for complex tasks.
  • Flocking behavior is crucial for decentralized coordination in MASs.
  • Achieving fixed-time convergence under disturbances is a significant challenge.

Purpose of the Study:

  • To investigate the fixed-time bipartite flocking tracking (FTBFT) problem for MASs.
  • To propose a novel, robust fixed-time control scheme for FTBFT.
  • To ensure follower agents track a leader within a specified fixed time despite disturbances and unknown control inputs.

Main Methods:

  • Development of a novel control scheme composed of a signum function term and a power exponent term.
  • Analysis of the closed-loop system dynamics under external disturbances and unknown control inputs.
  • Derivation of a fixed-time settling time bound independent of initial conditions.

Main Results:

  • The proposed control scheme achieves fixed-time bipartite flocking tracking.
  • The controller demonstrates robustness against external disturbances and unknown control inputs.
  • The settling time is bounded and independent of the agents' initial states.

Conclusions:

  • The novel control scheme simplifies controller structure while enhancing robustness and achieving fixed-time convergence.
  • The study provides an effective solution for the FTBFT problem in MASs.
  • Simulation results validate the proposed scheme's effectiveness and performance.