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.

Practical Fixed-Time Event-Triggered Time-Varying Formation Tracking Control for Disturbed Multi-Agent Systems with Continuous Communication Free

2020 ◽  
Vol 09 (01) ◽  
pp. 23-34
Author(s):  
Xiaofeng Chai ◽  
Jian Liu ◽  
Yao Yu ◽  
Jianxiang Xi ◽  
Changyin Sun
Keyword(s):  
Control Strategies ◽  
Fixed Time ◽  
Settling Time ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Formation Tracking ◽  
Control Schemes ◽  
Multi Agent ◽  
Event Triggered

In this paper, we study the practical fixed-time event-triggered time-varying formation tracking problem of leader-follower multi-agent systems with multi-dimensional dynamics. Fixed-time event-triggered control schemes with continuous communication and intermittent communication are developed, respectively. Continuous communication and measurement are avoided, and computation cost is reduced greatly in the latter scheme. And the settling time is to be specified regardless of initial states of agents. Meanwhile, tracking errors are adjustable as desired with expected settling time. It is demonstrated that time-varying formation tracking can be achieved under the two proposed control schemes and Zeno behavior can be excluded. Finally, numerical examples are provided to illustrate the effectiveness of the proposed control strategies.

Finite-time leaderless consensus of uncertain multi-agent systems against time-varying actuator faults

2019 ◽  
Vol 325 ◽  
pp. 159-171 ◽  
Author(s):  
Rathinasamy Sakthivel ◽  
Ramalingam Sakthivel ◽  
Boomipalagan Kaviarasan ◽  
Hosoo Lee ◽  
Yongdo Lim
Keyword(s):  
Finite Time ◽  
Time Varying ◽  
Actuator Faults ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent

High order robust fast finite time containment control for multi-agent systems

2019 ◽  
Vol 42 (3) ◽  
pp. 528-542 ◽  
Author(s):  
Ali Fattahi ◽  
Maryam Zekri ◽  
Mohammad Danesh
Keyword(s):  
Finite Time ◽  
Closed Loop ◽  
Initial Conditions ◽  
High Order ◽  
Multi Agent Systems ◽  
Containment Control ◽  
Agent Systems ◽  
Communication Topology ◽  
Multi Agent ◽  
Homogeneity Property

This paper studies the problem of robust containment with trivial sensitivity to both initial conditions and communication topology for multi-agent systems. In this way, based on the homogeneity property of the dynamic systems, a new nonlinear high order sliding surface for containment problem is proposed. This sliding surface has a fast finite time dynamics which causes remarkably reduction of containment sensitivity to the multi-agent initial conditions and communication topology. Accordingly, a high order fast finite time containment control (HOFFT-CC) protocol is established and the containment of multiple agents to a convex hull is realized. The proposed framework solves the fast containment problem for high order dynamics that are subjected to the external disturbance and furthermore, for both directed and undirected graph topology. Moreover, because of decoupling the agents’ dynamics and converting the multi-agent problem to some single agent problems, the structure of the proposed method is simpler and more straightforward in comparison with previous works. The finite time stability of the closed loop multi-agent systems based on the homogeneity theory and Lyapunov theorem, is analyzed and proved. The proof is produced throughout the negative degree homogeneity property of the closed loop dynamics along with asymptotical stability. In addition, simulation for a general third order multi-agent system in a two-dimensional space is accomplished and the results demonstrate the trivial sensitivity of containment to both initial conditions and communication topology.

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