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Fixed-time Output Feedback Consensus of Second-order Multi-agent Systems with Settling Time Estimation

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Abstract

This study discusses fixed-time consensus problem of second-order multi-agent systems with unmeasur-able velocity and uncertain disturbance. The proposed control scheme includes two parts: one part is a fixed-time convergent state observer to estimate the unknown velocity while the other part is a fixed-time consensus algorithm based on integral sliding mode. Mathematical proof is given and some stability conditions are derived. Moreover, the settling time depends on the parameters of state observer and consensus algorithm, which can be theoretically estimated offline regardless of initial states. Finally, the proposed control scheme is employed to coordinated control of single-link robotic manipulators and the simulation examples verify the efficiency of the results.

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Authors and Affiliations

  1. School of Aeronautics, Northwestern Polytechnical University, 127 West Youyi Road, Xi’an, 710072, China

    Ding Zhou, An Zhang & Pan Yang

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  1. Ding Zhou
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  2. An Zhang
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  3. Pan Yang
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Corresponding authors

Correspondence to Ding Zhou or An Zhang.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Associate Editor Guandeng Zong under the direction of Editor Hamid Reza Karimi. The work of this paper is supported by the National Natural Science Foundation of China (Grant No. 61573283) and Key Laboratory Open Foundation of Data Link Technology (Grant No. CLDL-20182113).

Ding Zhou received his B.S. and M.S. degrees in control engineering from Northwestern Polytechnical University of China, Xi’an, in 2017. He is currently pursuing a Ph.D. degree in control theory at Northwestern Polytechnical University. His current research interests include multi-agent systems, formation control of UAV.

An Zhang received his M.S. degree in systems engineering, in 1986, and his Ph.D. degree in control theory and control engineering from the Northwestern Polytechnical University of China, Xi’an, in 1999. He is currently a full-time Professor of control engineering with Northwestern Polytechnical University. He has authored or co-authored 31 refereed papers in journals and international conference proceedings. His current research interests include multi-agent systems, nonlinear control systems, intelligent control, and UAV control.

Pan Yang received her B.S degree in electrical engineering and automation from Northwestern Polytechnical University of China, Xi’an, in 2017. She is currently pursuing a Ph.D. degree in control theory at Northwestern Polytechnical University. Her current research interests include UAV swarms, formatnion control.

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Zhou, D., Zhang, A. & Yang, P. Fixed-time Output Feedback Consensus of Second-order Multi-agent Systems with Settling Time Estimation. Int. J. Control Autom. Syst. 18, 2061–2074 (2020). https://doi.org/10.1007/s12555-019-0384-y

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  • DOI: https://doi.org/10.1007/s12555-019-0384-y

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