Autonomous and non-autonomous fixed-time leader-follower consensus for second-order multi-agent systems
arXiv:2602.16260 · doi:10.1007/s11071-020-06075-7
Abstract
This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control scheme is divided into two steps. The first one is dedicated to the estimation of the leader state by each follower in a distributed way and in a fixed-time. Then, based on the estimate of the leader state, each follower computes its control law to track the leader in a fixed-time. In this paper, two control strategies are investigated and compared to solve the two mentioned steps. The first one is an autonomous protocol which ensures a fixed-time convergence for the observer and for the controller parts where the Upper Bound of the Settling-Time (UBST) is set a priory by the user. Then, the previous strategy is redesigned using time-varying gains to obtain a non-autonomous protocol. This enables to obtain less conservative estimates of the UBST while guaranteeing that the time-varying gains remain bounded. Some numerical examples show the effectiveness of the proposed consensus protocols.
This is the accepted version of the manuscript: Trujillo, M.A., Aldana-Lopez, R., Gomez-Gutierrez, D. et al. Autonomous and non autonomous fixed time leader follower consensus for second order multi agent systems. Nonlinear Dynamics 102, 2669-2686 (2020). DOI: 10.1007/s11071-020-06075-7. Please cite the publisher version
References in corpus (7)
- Synchronization in complex networks
- Homogeneous Approximation, Recursive Observer Design, and Output Feedback
- Enhancing the settling time estimation of a class of fixed-time stable systems
- On the design of new classes of fixed-time stable systems with predefined upper bound for the settling time
- On the design of non-autonomous fixed-time controllers with a predefined upper bound of the settling time
- A class of robust consensus algorithms with predefined-time convergence under switching topologies
- On predefined-time consensus protocols for dynamic networks