Open AccessContinuous finite‐time output consensus tracking of high‐order agents with matched and unmatched disturbances
Author(s) -
Yu Shuanghe,
Long Xiaojun,
Guo Ge
Publication year - 2016
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2015.0924
Subject(s) - control theory (sociology) , bounded function , multi agent system , tracking (education) , protocol (science) , observer (physics) , consensus , transformation (genetics) , computer science , state observer , mathematics , control (management) , nonlinear system , artificial intelligence , mathematical analysis , medicine , biochemistry , physics , alternative medicine , chemistry , pathology , quantum mechanics , psychology , pedagogy , gene
Finite‐time output consensus tracking problem of n ‐order multi‐agent systems (MAS) with matched and unmatched disturbances is investigated in this study. First, a distributed protocol is given for the nominal MAS to achieve finite‐time consensus tracking. Second, the unmatched disturbances in every follower are converted to the matched ones through a state transformation, and a finite‐time disturbance observer is utilised to estimate its disturbances and their derivatives up to the ( n − l)‐order (1 ≤ l ≤ n ) subject to the bounded ( n − l + 1)‐order derivatives. Finally, the combined observer‐based protocol achieves the finite‐time output consensus tracking in spite of all the disturbances. Finally, simulation results validate the scheme.