Ni Junkang
Department of Electrical Engineering, School of Automation, Northwestern Polytechnical University, Xi'an 710072, China.
ISA Trans. 2022 May;124:444-457. doi: 10.1016/j.isatra.2020.02.022. Epub 2020 Feb 27.
This paper presents a novel fixed-time consensus tracking protocol for high order multi-agent system (MAS) with directed communication topology. A new distributed observer is proposed such that fixed-time leader's state estimation can be achieved, which overcomes the difficulty arising from asymmetry of communication topology. A series of terminal sliding surfaces are constructed and a singularity-free sliding mode fixed-time tracking protocol is developed. It is proved that the proposed tracking protocol achieves fixed-time consensus tracking. Particularly, we can obtain the controller gain from the pre-specified time, which helps to tune the gain in accordance with consensus time requirement. Moreover, a less conservative convergence time bound estimation is attained. Simulation examples demonstrate the effectiveness of the presented scheme.
本文提出了一种适用于具有有向通信拓扑的高阶多智能体系统（MAS）的新型固定时间一致性跟踪协议。提出了一种新的分布式观测器，以实现领导者状态的固定时间估计，克服了通信拓扑不对称带来的困难。构造了一系列终端滑模面，并设计了一种无奇点的滑模固定时间跟踪协议。证明了所提出的跟踪协议能够实现固定时间一致性跟踪。特别地，我们可以从预先指定的时间中获得控制器增益，这有助于根据一致性时间要求调整增益。此外，还得到了一个较不保守的收敛时间界估计。仿真例子验证了所提方案的有效性。
