Open AccessRobust fixed‐time connectivity‐preserving consensus for second‐order multi‐agent systems with external disturbances
Author(s) -
Wang Cong,
Liu ChengLin,
Liu Shuai
Publication year - 2020
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.2019.1487
Subject(s) - multi agent system , control theory (sociology) , consensus , topology (electrical circuits) , integral sliding mode , convergence (economics) , network topology , computer science , robustness (evolution) , mathematics , sliding mode control , nonlinear system , control (management) , artificial intelligence , computer network , biochemistry , chemistry , economics , gene , physics , combinatorics , quantum mechanics , economic growth
In this study, the authors address the fixed‐time connectivity‐preserving consensus problem for second‐order multi‐agent systems with external disturbances under state‐dependent communication topology, where each agent has a limited sensing range. A novel global integral sliding‐mode consensus protocol is proposed to achieve fixed‐time consensus for leaderless multi‐agent systems, meanwhile maintaining the connectivity of initial communication topology and suppress external disturbances. By Lyapunov theory and homogeneity theory, it is proved that multi‐agent systems achieve fixed‐time consensus convergence and the sufficient condition of topology connectivity preservation is obtained. In addition, the results are extended to the leader–follower multi‐agent systems. The numerical examples are provided to illustrate the effectiveness of the results.