Finite-time and fixed-time leader-following consensus for multi-agent systems with discontinuous inherent dynamics

2017 ◽  
Vol 91 (6) ◽  
pp. 1259-1270 ◽  
Author(s):  
Boda Ning ◽  
Jiong Jin ◽  
Jinchuan Zheng ◽  
Zhihong Man
Keyword(s):  
Finite Time ◽  
Fixed Time ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent

Finite/fixed-time consensus of nonlinear multi-agent systems against actuator faults and disturbances

2020 ◽  
Vol 42 (16) ◽  
pp. 3254-3266
Author(s):  
Yanhui Yin ◽  
Fuyong Wang ◽  
Zhongxin Liu ◽  
Zengqiang Chen
Keyword(s):  
Finite Time ◽  
Initial Conditions ◽  
Fixed Time ◽  
Settling Time ◽  
Design Parameters ◽  
Actuator Faults ◽  
Multi Agent Systems ◽  
Multiple Faults ◽  
Agent Systems ◽  
Multi Agent

This paper is concerned with the consensus tracking problem in nonlinear multi-agent systems against external disturbances and multiple actuator faults. The nonlinear dynamics are unknown and the leader’s input is unavailable to any follower. By using finite-time Lyapunov stability theory, a distributed discontinuous protocol is developed. On this basis, a fixed-time control protocol is further designed to obtain a settling time regardless of initial conditions. In addition, the practical finite-time consensus and practical fixed-time consensus are investigated by the adaptive technique, under which the bounds of the faults can be estimated online adaptively. The innovation of this work lies in the fact that the finite/fixed-time consensus problem is solved when multiple faults and mismatched nonlinearity are simultaneously considered. The relationship between the settling time and design parameters is well established. Finally, some numerical simulations are given to verify the effectiveness of the theoretical results.

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