Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 50, Issue 2, Pages 846-855Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2018.2875362
Keywords
Convergence; Multi-agent systems; Symmetric matrices; Stability analysis; Robustness; Control systems; Vehicle dynamics; Consensus; fixed-time convergence; multiagent systems; robustness; sliding mode control (SMC)
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Funding
- Australian Research Council [DP170102303]
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Faster convergence is always sought in many applications. Designing fixed-time control has recently gained much attention since, for this type of control structure, the convergence time of the states does not depend on initial conditions, unlike other control methods providing faster convergence. This paper proposes a new distributed algorithm for second-order consensus in multiagent systems by using a full-order fixed-time convergent sliding surface. The stability analysis is performed using the Lyapunov function and bi-homogenous property. Moreover, the proposed control is smooth and free from any singularity. The robustness of the proposed scheme is verified both in the presence of Lipschitz disturbances and uncertainties in the network. The proposed method is compared with a state-of-the-art method to show the effectiveness.
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