Open AccessFixed‐time stabilisation and consensus of non‐holonomic systems
Author(s) -
Defoort Michael,
Demesure Guillaume,
Zuo Zongyu,
Polyakov Andrey,
Djemai Mohamed
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.2016.0094
Subject(s) - holonomic , settling time , control theory (sociology) , controller (irrigation) , upper and lower bounds , computer science , lyapunov function , state (computer science) , mathematics , control (management) , nonlinear system , control engineering , engineering , algorithm , artificial intelligence , quantum mechanics , mathematical analysis , agronomy , physics , biology , step response
This study deals with the fixed‐time stabilisation of a class of non‐linear systems. A non‐linear controller, based on sliding mode, is proposed to ensure the fixed‐time stabilisation of a non‐holonomic system in chained form. An upper bound of the settling time, independent of the initial system state, is estimated. Then, a distributed switched strategy, based on local information, is introduced to solve the fixed‐time consensus problem for multiple non‐holonomic agents. Using Lyapunov functions, the switching times are explicitly given and only depend on the controller gains and the Laplacian matrix. Simulation results highlight the efficiency of the proposed method.