Abstract
This article investigates the fixed-time consensus control problem for nonlinear second-order multi-agent systems subjected to measurement noises and in absence of the second-order state measurements of the leader and the followers under directed communication topology graphs. For each follower, an innovative augmented fixed-time disagreement error observer (AFTDEO) is first designed to reconstruct the disagreement error within fixed time. On one hand, the proposed AFTDEO can not only operate well only depending on the noisy measurements of the first-order states of the leader and the followers, but also suppress the measurement noises of the leader and the followers. On the other hand, the proposed AFTDEO can guarantee that the observation errors are convergent to the origin in fixed time independent of the initial observation errors. Based on the proposed AFTDEO, a novel fixed-time consensus control scheme under a directed graph having a spanning tree is constructed to address the consensus problem without the second-order measurements of the leader and the followers by utilizing fixed-time nonsmooth backstepping technique. The fixed-time convergence of the tracking error is guaranteed through Lyapunov stability analysis. Finally, simulation results demonstrate the effectiveness of the proposed consensus control scheme.
Highlights
During the past few decades, cooperative control for multi-agent systems has received considerable attention and achieved abundant accomplishments from various scientific communities [1]–[4]
Motivated by the above observations, in this article, we propose a novel fixed-time consensus control scheme for second-order multi-agent systems subjected to measurement noises based on an augmented fixed-time disagreement error observer (AFTDEO) without the second-order state measurements of the leader and followers under directed interaction topologies
For the purpose of realizing consensus for the second-order nonlinear multi-agent systems under directed graphs without the second-order measurements of the leader and followers subjected to measurement noises, an innovative observer-based fixed-time consensus control scheme has been constructed in this article
Summary
During the past few decades, cooperative control for multi-agent systems has received considerable attention and achieved abundant accomplishments from various scientific communities [1]–[4]. One of the most significant and fundamental issues of cooperative control is the consensus control problem, which requires all agents to converge to a common value by communicating with their neighbors [5]–[7]. Settling time is a vital performance specification for the consensus control problem of multi-agent systems as fast convergence rate exhibits excellent flexibility and strong robustness [8]. It is well known that finite-time control is one of the most effective control methods to obtain a fast convergence rate of the closed-loop system. The settling time of finite-time stability depends on the initial states.
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