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 language | English |
|---|---|
| Pages (from-to) | 395-404 |
| Number of pages | 10 |
| Journal | IET Control Theory and Applications |
| Volume | 12 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 18 Jan 2018 |
Keywords
- convergence
- distributed control
- graph theory
- Lyapunov models
- multi-robot systems
- robot dynamics
- stability
- uncertain systems