Open AccessRobust fixed‐time consensus tracking with application to formation control of unicycles
Author(s) -
Chu Xing,
Peng Zhaoxia,
Wen Guoguang,
Rahmani Ahmed
Publication year - 2018
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.2017.0319
Subject(s) - control theory (sociology) , multi agent system , convergence (economics) , tracking (education) , fixed point , bounded function , computer science , protocol (science) , iterative learning control , mathematics , consensus , mathematical optimization , control (management) , artificial intelligence , medicine , psychology , alternative medicine , pathology , economics , economic growth , mathematical analysis , pedagogy
This study investigates the robust fixed‐time consensus tracking problem of second‐order multi‐agent systems under fixed topology. A novel type of non‐linear protocol and the corresponding sufficient conditions for achieving robust fixed‐time consensus tracking are proposed with the aid of sliding mode technique and Lyapunov theory. Compared to finite‐time consensus tracking, the convergence time of the tracking errors is globally bounded for any initial conditions of the agents, which is also the global information for each agent. Furthermore, the results obtained for second‐order multi‐agent systems are also extended to deal with the fixed‐time formation tracking problem for unicycle‐type robots. Extensive numerical experiments are performed to illustrate the effectiveness of the present theoretical results.