Journal
INTERNATIONAL JOURNAL OF CONTROL
Volume 91, Issue 6, Pages 1259-1270Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2017.1313453
Keywords
Finite-time consensus; fixed-time consensus; discontinuous inherent dynamics; multi-agent systems; distributed control
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This paper is concerned with finite-time and fixed-time consensus of multi-agent systems in a leader-following framework. Different from conventional leader-following tracking approaches where inherent dynamics satisfying the Lipschitz continuous condition is required, a more generalised case is investigated: discontinuous inherent dynamics. By nonsmooth techniques, a nonlinear protocol is first proposed to achieve the finite-time leader-following consensus. Then, based on fixed-time stability strategies, the fixed-time leader-following consensus problem is solved. An upper bound of settling time is obtained by using a new protocol, and such a bound is independent of initial states, thereby providing additional options for designers in practical scenarios where initial conditions are unavailable. Finally, numerical simulations are provided to demonstrate the effectiveness of the theoretical results.
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