Finite-Time Consensus of Heterogeneous Multi-Agent Systems Without Velocity Measurements and With Disturbances via Integral Sliding Mode Control | Zendy

Hongtao Ye | Zendy; Meng-Meng Li | Zendy; Weng-Guang Luo | Zendy; Yong-Xin Qin | Zendy

Open Access

Finite-Time Consensus of Heterogeneous Multi-Agent Systems Without Velocity Measurements and With Disturbances via Integral Sliding Mode Control

Author(s) -

Hongtao Ye,

Meng-Meng Li,

Weng-Guang Luo,

Yong-Xin Qin

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2874961

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

In this paper, the finite-time consensus protocols are designed to solve the problems of unmeasured velocity and disturbances in heterogeneous multi-agent systems, in which the communications among agents are described by a directed graph. The proposed consensus protocols use only position measurements. The velocity of the agents is estimated according to the position measurements of multi-agent systems. The integral sliding mode control is adopted to eliminate the bounded disturbances of the systems and shorten the time to achieve consensus. The sufficient conditions for finite-time consensus are obtained by employing Lyapunov stability theory. Finally, simulations are provided to verify the effectiveness of the proposed schemes.

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