Fixed-time group consensus for multi-agent systems with nonlinear dynamics and uncertainties

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Abstract

In this study, the author studies fixed-time group consensus problem in networks of dynamic agents with intrinsic nonlinear dynamics and bounded uncertainties. Three types of distributed control protocols are proposed to achieve fixed-time group consensus when the subgroups are connected and have inter-group common influence. By using Lyapunov theory, algebraic graph theory, and fixed-time stability, some conditions are derived to select the controller gains to ensure the convergence in a prescribed time regardless of the initial conditions. Numerical examples are worked out to illustrate the effectiveness of our theoretical results.
Original languageEnglish
Pages (from-to)395-404
Number of pages10
JournalIET Control Theory and Applications
Volume12
Issue number3
DOIs
Publication statusPublished - 18 Jan 2018

Keywords

  • convergence
  • distributed control
  • graph theory
  • Lyapunov models
  • multi-robot systems
  • robot dynamics
  • stability
  • uncertain systems

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