Fixed-time coordinated tracking for second-order multi-agent systems with bounded input uncertainties

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• 作者：Junjie Fu ^{fujunjie89@gmail.com" class="auth_mail" title="E-mail the corresponding author} ; Jinzhi Wang ; ^{jinzhiw@pku.edu.cn" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Multi-agent system ; Coordinated tracking ; Fixed-time ; Second-order systems ; Directed communication graph
• 刊名：Systems & Control Letters
• 出版年：2016
• 出版时间：July 2016
• 年：2016
• 卷：93
• 期：Complete
• 页码：1-12
• 全文大小：2083 K

文摘

In this paper, we study the fixed-time coordinated tracking problem for second-order integrator systems with bounded input uncertainties. Two novel distributed controllers are proposed with which the convergence time of the tracking errors is globally bounded for any initial condition of the agents. When relative state measurements are available for each follower, an observer-based distributed control strategy is proposed which achieves fixed-time coordinated tracking for the perturbed second-order multi-agent systems. When only relative output measurements are available, uniform robust exact differentiators are employed together with the observer-based controller which is able to achieve fixed-time coordinated tracking with reduced measurements. Simulation examples are provided to demonstrate the performance of the proposed controllers.