Time-varying formation tracking control for high-order nonlinear multi-agent systems in fixed-time framework

Haijiao Yang and Dan Ye

Applied Mathematics and Computation, 2020, vol. 377, issue C

Abstract: In this paper, we investigate the time-varying formation tracking control (TVFTC) problem for high-order uncertain nonlinear multi-agent systems (MASs) with a dynamic leader. Both unknown disturbances and uncertain nonlinear functions are considered. A novel fixed-time TVFTC strategy is proposed with two steps, which can avoid the communication loop problem. Firstly, a distributed fixed-time observer (DFTO) for the directed graph is introduced, such that the leader’s information can be accurately obtained by each agent within a bounded time. Secondly, by using fixed-time technique, a Lyapunov-function-based design process has been schemed to avoid the singularity problem. The developed TVFTC protocols can ensure all the followers achieve the desired time-varying formation and track the leader simultaneously. Furthermore, according to practical requirements, the configuration of formation can be chosen as arbitrary shape and the corresponding convergence time is allowed to be pre-estimated or preset. Stability analysis and some simulation examples for the control strategy are given, which further verify the validity.

Keywords: Nonlinear MASs; Fixed-time control; Time-varying formation; Tracking control; Dynamic leader (search for similar items in EconPapers)
Date: 2020
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (4)

Downloads: (external link)
http://www.sciencedirect.com/science/article/pii/S0096300320300886
Full text for ScienceDirect subscribers only

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:eee:apmaco:v:377:y:2020:i:c:s0096300320300886

DOI: 10.1016/j.amc.2020.125119

Access Statistics for this article

Applied Mathematics and Computation is currently edited by Theodore Simos

More articles in Applied Mathematics and Computation from Elsevier
Bibliographic data for series maintained by Catherine Liu ().