Distributed Fixed-Time Consensus Algorithm for Multiple Nonholonomic Chained-Form Systems

  • Yutao Jiang
  • Zhongxin LiuEmail author
  • Zengqiang Chen
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 528)


In this paper, the fixed-time control algorithm is used to address the consensus problem for multiple nonholonomic chained-form systems. For the sake of analysis, a switching control strategy is introduced to solve the fixed-time consensus problem. Compared with the finite-time control algorithm, the convergence time of the fixed-time consensus protocol, can be guaranteed regardless of the initial conditions. Rigorous proof using Lyapunov theory shows that the sates of multiple nonholonomic chained-form systems can reach a consensus in a fixed time. To further illustrate the effectiveness of the control algorithm, a numerical simulation is given.


Distributed control Nonholonomic chained-form systems Lyapunov theory Finite-time consensus Fixed-time consensus 



This work is supported by the National Natural Science Foundation of China (Grant Nos. 61573200, 61573199).


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© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.College of Computer and Control Engineering, Nankai UniversityTianjinChina
  2. 2.Tianjin Key Laboratory of Intelligent RoboticsNankai UniversityTianjinChina

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