期刊
IEEE ACCESS
卷 8, 期 -, 页码 195170-195183出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2020.3033789
关键词
Convergence; Consensus protocol; Topology; Multi-agent systems; Generators; Task analysis; Multi-agent systems; distributed protocol; high-order systems; prescribed-time consensus; time base generators (TBGs)
资金
- Intel Corporation
This article addresses the distributed prescribed-time leader-following consensus problem for a class of high-order multi-agent systems (MASs) with perturbed nonlinear agents dynamics and where the topology of the network contains a directed spanning tree, with the leader as the root. Prescribed-time consensus means that an agreement state of the MAS is achieved in a preset time, introduced as a parameter of the control law, and this constant settling time is achieved independently of the agents initial state. The proposed control method exhibits three main advantages: first, to our best knowledge, it is the first time that prescribed-time convergence in a consensus problem is achieved for agents with high-order nonlinear dynamics, using a robust leader-following protocol, which allows an effective rejection of matched disturbances in the agents model. Second, the proposed controller provides control signals of lower magnitude than existing approaches. Third, the proposed consensus protocol does not have parameters to be adjusted depending on the connectivity of the considered communication graph.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据