Leader-following fixed-time output feedback consensus for second-order multi-agent systems with input saturation

Dandan Zhang and Guangren Duan

International Journal of Systems Science, 2018, vol. 49, issue 14, 2873-2887

Abstract: This paper investigates the leader-following fixed-time output feedback consensus problem for second-order multi-agent systems with input saturation. By combing fixed-time control technique and bi-limit homogeneous systems theory, a class of bounded fixed-time consensus protocols are developed for leader-following multi-agent systems. The protocol design is divided into two parts. First, when all the state information of the followers are measurable, a state feedback consensus protocol is designed to achieve fixed-time consensus. Then, when the velocity information is unmeasurable, an observer-based fixed-time consensus protocol is proposed. With the help of Lyapunov stability theorem and the property of a homogeneous function, it is theoretically shown that the states of all followers can track that of the leader in fixed-time in the presence of input saturation. Finally, numerical simulation is carried out to illustrate the effectiveness of theoretical results.

Date: 2018
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DOI: 10.1080/00207721.2018.1509243

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