Finite-Time Leaderless Consensus Control for Systems with High-Order Uncertain Dynamics
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.
- 2.Oldham, K.B.: The fractional calculus. Elsevier (1974)Google Scholar
- 6.Wang, Y.J., Song, Y.D., Lewis, F.L.: Robust adaptive fault-tolerant control of multi-agent systems with uncertain non-identical dynamics and undetectable actuation failures. IEEE Trans. Ind. Electron. 62(6), 3978–3988 (2015)Google Scholar