Journal
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume 51, Issue 3, Pages 1869-1880Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2019.2906902
Keywords
Multi-agent systems; Consensus algorithm; Uncertainty; Convergence; Mobile robots; Observers; Asymptotic stability; Chained-form; finite-time control; fixed-time control; multiagent systems; nonholonomic systems
Funding
- NSFC [61673215, 61374087]
- 333 Project [BRA2017380]
- Priority Academic Program Development of Jiangsu Higher Education Institutions
- Key Laboratory of Jiangsu Province
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This paper investigates the robust fixed-time consensus tracking control problem for high-order nonholonomic chained-form systems and proposes a new algorithm. By using the modified power integrator method, consensus tracking can be achieved in a fixed time independent of initial conditions and uncertainties. Additionally, an observer-based alternative method is developed to overcome the communication loop problem.
Convergence rate is an important performance index in consensus control. Yet, most of the existing results can only achieve asymptotic consensus, or finite-time consensus whose settling time is contingent on initial conditions. This paper studies the robust fixed-time consensus tracking control problem for high-order nonholonomic chained-form systems subject to unknown parameters and nonlinear uncertainties. By using the modified power integrator method, we propose a new robust fixed-time consensus tracking algorithm, with which the consensus tracking can be achieved in a fixed time independent of initial conditions even in the presence of uncertainties. An observer-based fixed-time consensus tracking algorithm is also developed as an alternative method to overcome the communication loop problem. Lyapunov analysis shows the fixed-time stability of the closed-loop system. An application to multiple wheeled mobile robots is presented.
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