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Finite-Time Leaderless Consensus Control for Systems with High-Order Uncertain Dynamics

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Book cover Cooperative Control of Nonlinear Networked Systems

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Abstract

The majority of the research on finite-time consensus control has been focused on MAS described by single or double integrator under undirected topology. This work explicitly addressed the problem of finite-time consensus for MAS with high-order nonlinear uncertain dynamics under directed communication constraints. Finite-time leaderless consensus for networked multi-agent systems (MAS) with high-order nonlinear uncertain dynamics under local communication condition is a challenging problem due to the involvement of high-order nonlinear uncertain dynamics, local communication constraints, and unknown time-varying control effectiveness gain. In this chapter, based upon the locally defined consensus error and fractionally composed virtual error, a number of useful intermediate results are derived, with which the finite-time consensus solutions are established for networked MAS with high-order uncertain dynamics under single-way directed communication topology.

Part of this chapter has been reproduced from Wang, Y. J., Song, Y. D., Krstic, M., Wen, C. Y.: Adaptive finite time coordinated consensus for high-order multi-agent systems: adjustable fraction power feedback approach. Information sciences, vol. 372, pp. 392–406, 2016 \(\copyright \) 2016 Elsevier Inc., reprinted with permission.

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Authors and Affiliations

  1. School of Automation, Chongqing University, Chongqing, China

    Yongduan Song & Yujuan Wang

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  1. Yongduan Song
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  2. Yujuan Wang
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Correspondence to Yongduan Song .

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Song, Y., Wang, Y. (2019). Finite-Time Leaderless Consensus Control for Systems with High-Order Uncertain Dynamics. In: Cooperative Control of Nonlinear Networked Systems. Communications and Control Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-04972-0_9

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