Intelligent Control Systems Laboratory, School of Electrical and Computer Engineering, Tarbiat Modares University, Tehran, Iran.
Department of Electrical Engineering, Faculty of Engineering, Arak University, Arak, Iran.
ISA Trans. 2023 Jul;138:37-48. doi: 10.1016/j.isatra.2023.03.010. Epub 2023 Mar 17.
In this paper, fixed-time consensus and formation control for fractional-order multi-agent systems with a dynamic virtual leader in the presence of external disturbances is investigated. Consensus is achieved in fixed-time, i.e., with a finite settling time whose upper bound is independent of the initial conditions of the agents' states. A new distributed sliding-mode control with neighborhood-based error variable is proposed to track a virtual leader in order to achieve a desired consensus in the presence of disturbances. Furthermore, the fractional Lyapunov stability theorem has been employed to prove the fixed-time stability and to estimate the upper bound of convergence. The formation of agents has also been investigated for the agents of fractional-order. Finally, several numerical simulations are provided to determine the effectiveness of the design method.
本文研究了存在外部干扰时具有动态虚拟领导者的分数阶多智能体系统的固定时间一致性和编队控制问题。一致性是在固定时间内实现的，即有一个有限的稳定时间，其上界与智能体状态的初始条件无关。为了在存在干扰的情况下跟踪虚拟领导者以实现期望的一致性，提出了一种基于邻域误差变量的新的分布式滑模控制。此外，利用分数李雅普诺夫稳定性定理证明了固定时间稳定性，并估计了收敛的上界。还研究了分数阶智能体的编队问题。最后，提供了几个数值模拟来确定设计方法的有效性。
